Micro-feed control device, method and system for twin-wheel grooving machine

Abstract

This invention provides a micro-feed control device, method, and system for a twin-wheel grooving machine. The twin-wheel grooving machine includes: a grooving winch and a reducer connected to the winch; the device includes a low-speed feed motor connected to the low-speed feed end of the reducer; an auxiliary valve connected to the low-speed feed motor via a feed oil circuit and an upward lifting oil circuit; and a rectifier valve assembly located in the upward lifting oil circuit for bidirectional speed regulation during feeding and lifting. This invention, by installing a rectifier assembly in the upward lifting oil circuit, enables bidirectional speed regulation during micro-feed control of the twin-wheel grooving machine, eliminating the control dead zone caused by motor internal leakage and improving the control accuracy of micro-feed.

Description

Technical Field

[0001] This invention relates to the field of engineering equipment technology, and in particular to a micro-feed control device, method and system for a twin-wheel grooving machine. Background Technology

[0002] The twin-wheel trench cutter is a type of engineering machinery used in the construction of diaphragm walls. The working device operates by submerging into the mud below ground level for tunneling. The twin-wheel trench cutter has two control modes for its feed: controlling the feed speed (open-loop control) and controlling the feed force (closed-loop control). As market demands for rock hardness and other indicators continue to increase, the construction difficulty is constantly rising.

[0003] During construction, the slow-speed drive motor of the main winch reducer controls the construction feed speed of the working device. The auxiliary valve controls the feed and upward oil supply. The electro-proportional speed control valve on the motor's feed return oil line controls the feed oil flow rate (i.e., the feed speed). The electro-proportional speed control valve only controls the feed oil flow rate. During reverse lifting, hydraulic oil passes through a check valve connected in parallel with the electro-proportional speed control valve. The current-flow characteristic diagram of the electro-proportional speed control valve is shown below. Figure 1 As shown.

[0004] Furthermore, Figure 3 and Figure 4 This diagram illustrates the ideal and actual characteristics of the feed control of the working device under current technological conditions. Under theoretical conditions, such as... Figure 3 As shown, the feed rate and control flow rate characteristic curves coincide; however, in actual conditions, such as Figure 4 As shown, the actual feed rate will be greater than the theoretical set value. Even if the speed control valve is completely closed, there will still be a feed rate, forming a control dead zone. The control dead zone is caused by internal leakage of the motor. As the performance of the motor decreases and the internal leakage increases, the feed rate control dead zone also increases, which directly affects the micro-feed performance and control accuracy. Summary of the Invention

[0005] This invention provides a micro-feed control device, method, and system for a twin-wheel grooving machine, which solves the problem that existing feed control has a control dead zone due to internal leakage of the motor. That is, even when the speed control valve is completely closed, there is still feed speed. Furthermore, as the performance of the motor decreases and the internal leakage increases, the feed speed control dead zone also increases, which directly affects the micro-feed performance and control accuracy.

[0006] According to a first aspect of the present invention, a micro-feed control device for a twin-wheel grooving machine is provided. The twin-wheel grooving machine includes: a grooving winch and a reducer connected to the grooving winch; the device includes: a low-speed feed motor connected to the low-speed feed end of the reducer; an auxiliary valve connected to the low-speed feed motor via a feed oil circuit and an upward lifting oil circuit respectively; and a rectifier valve group disposed in the upward lifting oil circuit for realizing bidirectional speed regulation during the feeding and lifting processes.

[0007] According to one embodiment of the present invention, the rectifier valve assembly includes: a first check valve, a second check valve, a third check valve, a fourth check valve, and an electro-proportional speed control valve; the first check valve, the second check valve, the third check valve, and the fourth check valve are connected to each other to form a hydraulic rectifier bridge circuit; the electro-proportional speed control valve is connected to the hydraulic rectifier bridge circuit and is used to regulate the flow rate of hydraulic oil in the hydraulic rectifier bridge circuit; wherein, the hydraulic oil sequentially passes through the auxiliary valve, the low-speed feed motor, the first check valve, the electro-proportional speed control valve, and the third check valve before returning to the oil tank to form the feed oil circuit; the hydraulic oil sequentially passes through the auxiliary valve, the second check valve, the electro-proportional speed control valve, the fourth check valve, and the low-speed feed motor before returning to the oil tank to form the lift oil circuit.

[0008] Specifically, this embodiment provides an implementation method for a rectifier valve assembly.

[0009] A control method for a micro-feed control device of a twin-wheel grooving machine according to a second aspect of the present invention includes: Based on the operation information, a preset feed force threshold and an instant feed force feedback value are determined. The operation information includes the micro-feed start command of the twin-wheel milling machine. The preset feed force threshold is a preset mechanical feedback parameter in the micro-feed process. The instant feed force feedback value is a real-time mechanical feedback parameter in the micro-feed. Based on the preset feed force threshold and the instantaneous feed force feedback value, a micro-feed adjustment decision is determined. The operation of the twin-wheel grooving machine is adjusted based on the micro-feed adjustment decision.

[0010] According to one embodiment of the present invention, the step of determining the micro-feed adjustment decision based on the preset feed force threshold and the instantaneous feed force feedback value specifically includes: When the preset feed force threshold is less than the instantaneous feed force feedback value, the auxiliary valve supplies oil to the low-speed feed motor through the feed oil circuit, and the current of the electro-proportional speed control valve is greater than the minimum critical value, a first adjustment strategy is determined. The first adjustment strategy includes reducing the current of the electro-proportional speed control valve, maintaining the auxiliary valve supplying oil to the low-speed feed motor through the feed oil circuit, and simultaneously reducing the feed of the twin-wheel milling machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. The micro-feed adjustment decision is generated based on the first adjustment strategy; The minimum critical value is the critical closing value of the electro-proportional speed control valve.

[0011] Specifically, this embodiment provides an implementation method for determining a first adjustment strategy.

[0012] According to one embodiment of the present invention, the step of determining the micro-feed adjustment decision based on the preset feed force threshold and the instantaneous feed force feedback value specifically includes: When the preset feed force threshold is less than the instantaneous feed force feedback value, the auxiliary valve supplies oil to the low-speed feed motor through the feed oil circuit, and the current of the electro-proportional speed control valve is equal to the minimum critical value, a second adjustment strategy is determined. The second adjustment strategy includes switching the auxiliary valve to supply oil to the low-speed feed motor through the lifting oil circuit, increasing the current of the electro-proportional speed control valve, and simultaneously reducing the feed of the twin-wheel milling machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. The micro-feed adjustment decision is generated based on the second adjustment strategy; The minimum critical value is the critical closing value of the electro-proportional speed control valve.

[0013] Specifically, this embodiment provides an implementation method for determining a second adjustment strategy.

[0014] According to one embodiment of the present invention, when the preset feed force threshold is less than the instantaneous feed force feedback value, the auxiliary valve supplies oil to the low-speed feed motor through the lifting oil circuit, and the current of the electro-proportional speed control valve is greater than the minimum critical value, a third adjustment strategy is determined. The third adjustment strategy includes maintaining the auxiliary valve supplying oil to the low-speed feed motor through the lifting oil circuit, increasing the current of the electro-proportional speed control valve, and simultaneously reducing the feed of the milling machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. The micro-feed adjustment decision is generated based on the third adjustment strategy; The minimum critical value is the critical closing value of the electro-proportional speed control valve.

[0015] Specifically, this embodiment provides an implementation method for determining a third adjustment strategy.

[0016] According to one embodiment of the present invention, the step of determining the micro-feed adjustment decision based on the preset feed force threshold and the instantaneous feed force feedback value specifically includes: When the preset feed force threshold is greater than the instantaneous feed force feedback value, and the auxiliary valve supplies oil to the low-speed feed motor through the lifting oil circuit, a fourth adjustment strategy is determined. The fourth adjustment strategy includes maintaining the auxiliary valve supplying oil to the low-speed feed motor through the lifting oil circuit, reducing the current of the electro-proportional speed control valve, and increasing the feed speed of the twin-wheel grooving machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. The micro-feed adjustment decision is generated based on the fourth adjustment strategy.

[0017] Specifically, this embodiment provides an implementation method for determining a fourth adjustment strategy.

[0018] According to one embodiment of the present invention, the step of determining the micro-feed adjustment decision based on the preset feed force threshold and the instantaneous feed force feedback value specifically includes: When the preset feed force threshold is greater than the instantaneous feed force feedback value, the auxiliary valve supplies oil to the low-speed feed motor through the lifting oil circuit, and the current of the electro-proportional speed control valve is equal to the minimum critical value, a fifth adjustment strategy is determined. The fifth adjustment strategy includes switching the auxiliary valve to supply oil to the low-speed feed motor through the feed oil circuit, increasing the current of the electro-proportional speed control valve, and simultaneously increasing the feed speed of the twin-wheel milling machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. The micro-feed adjustment decision is generated based on the fifth adjustment strategy; The minimum critical value is the critical closing value of the electro-proportional speed control valve.

[0019] Specifically, this embodiment provides an implementation method for determining the fifth adjustment strategy.

[0020] According to one embodiment of the present invention, the step of determining the micro-feed adjustment decision based on the preset feed force threshold and the instantaneous feed force feedback value specifically includes: When the preset feed force threshold is greater than the instantaneous feed force feedback value, the auxiliary valve supplies oil to the low-speed feed motor through the feed oil circuit, and the current of the electro-proportional speed control valve is greater than the minimum critical value, a sixth adjustment strategy is determined. The sixth adjustment strategy includes maintaining the auxiliary valve supplying oil to the low-speed feed motor through the feed oil circuit, increasing the current of the electro-proportional speed control valve, and increasing the feed speed of the milling machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. The micro-feed adjustment decision is generated based on the sixth adjustment strategy; The minimum critical value is the critical closing value of the electro-proportional speed control valve.

[0021] Specifically, this embodiment provides an implementation method for determining the sixth regulation strategy.

[0022] According to one embodiment of the present invention, the step of adjusting the operation of the twin-wheel grooving machine based on the micro-feed adjustment decision further includes: Based on the premise that the preset feed force limit threshold is equal to the instantaneous feed force feedback value, a fifth adjustment strategy is determined. The seventh adjustment strategy includes cutting off the oil supply to the auxiliary valve, closing the electro-proportional speed control valve, and locking the brake. The preset feed force limit threshold is the limit value of the preset mechanical feedback parameter in the micro-feed process. The micro-feed adjustment decision is generated based on the seventh adjustment strategy.

[0023] Specifically, this embodiment provides an implementation method for determining the seventh regulation strategy.

[0024] According to a third aspect of the present invention, a micro-feed control system for a twin-wheel grooving machine includes: The information determination module is used to determine a preset feed force threshold and an instant feed force feedback value based on operation information. The operation information includes the micro-feed start command of the twin-wheel grooving machine, the preset feed force threshold is a preset mechanical feedback parameter in the micro-feed process, and the instant feed force feedback value is a real-time mechanical feedback parameter in the micro-feed. The decision generation module is used to determine the micro-feed adjustment decision based on the preset feed force threshold and the instantaneous feed force feedback value; The decision execution module is used to adjust the operation of the twin-wheel grooving machine based on the micro-feed adjustment decision.

[0025] The above-mentioned one or more technical solutions of the present invention have at least one of the following technical effects: The micro-feed control device, method and system of the twin-wheel grooving machine provided by the present invention, by setting a rectifier component on the lifting oil line, enables the twin-wheel grooving machine to realize bidirectional speed regulation during the feeding and lifting process through the rectifier component during the micro-feed control process, eliminates the control dead zone caused by motor internal leakage, and improves the control accuracy of micro-feed. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the current-flow characteristic of an existing electro-proportional speed control valve; Figure 2 This is the current-flow rate and feed rate characteristic diagram of an existing electro-proportional speed control valve under theoretical conditions. Figure 3 This is a current-flow-feed speed characteristic diagram of an existing electro-proportional speed control valve under actual conditions; Figure 4 This is one of the schematic diagrams showing the arrangement of the micro-feed control system of the twin-wheel grooving machine provided by the present invention; Figure 5 This is the second schematic diagram of the arrangement of the micro-feed control system of the twin-wheel grooving machine provided by the present invention; Figure 6 This is the third schematic diagram of the arrangement of the micro-feed control system of the twin-wheel grooving machine provided by the present invention; Figure 7 This is the fourth schematic diagram of the arrangement of the micro-feed control system of the twin-wheel grooving machine provided by the present invention; Figure 8 This is a schematic diagram of the hydraulic bridge circuit arrangement of the electro-proportional speed control valve in the micro-feed control system of the twin-wheel milling machine provided by the present invention. Figure 9 This invention provides a micro-feed control system for a twin-wheel grooving machine, showing the current-flow rate and feed speed characteristics of an electro-proportional speed control valve with reverse compensation control function under actual conditions. Figure 10 This is a flowchart illustrating the micro-feed control method for a twin-wheel grooving machine provided by the present invention. Figure 11 This is a schematic diagram of the micro-feed control device for the twin-wheel grooving machine provided by the present invention.

[0028] Figure label: 10. Milling hoist; 20. Reducer; 30. Low-speed feed motor; 40. Auxiliary valve; 50. Feed oil circuit; 60. Lifting oil circuit; 70. Oil tank; 80. Rectifier valve assembly; 81. First check valve; 82. Second check valve; 83. Third check valve; 84. Fourth check valve; 85. Electro-proportional speed control valve; 100. Information Determination Module; 110. Decision Generation Module; 120. Decision Execution Module. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] The present invention will now be described in detail with reference to the accompanying drawings. The specific operation methods in the method embodiments can also be applied to the device embodiments or system embodiments. In the description of the present invention, unless otherwise stated, "at least one" includes one or more. "Multiple" refers to two or more. For example, at least one of A, B, and C includes: A existing alone, B existing alone, A and B existing simultaneously, A and C existing simultaneously, B and C existing simultaneously, and A, B, and C existing simultaneously. In the present invention, " / " means "or". For example, A / B can mean A or B. "And / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone.

[0031] The present invention will now be described in detail with reference to specific embodiments.

[0032] In some specific embodiments of the present invention, such as Figures 4 to 9 As shown, this solution provides a micro-feed control device for a dual-wheel grooving machine. The dual-wheel grooving machine includes: a grooving winch 10 and a reducer 20 connected to the grooving winch 10; the device includes: a low-speed feed motor 30 connected to the low-speed feed end of the reducer 20; an auxiliary valve 40 connected to the low-speed feed motor 30 through a feed oil circuit 50 and an upward lifting oil circuit 60 respectively; and a rectifier valve group 80, located in the upward lifting oil circuit 60, used to realize bidirectional speed regulation during the feeding and lifting processes.

[0033] It should be noted that by setting the rectifier valve group 80, the feed and lift speeds in the micro-control are regulated, thereby eliminating the control dead zone problem caused by the internal leakage of the low-speed feed motor 30.

[0034] In detail, in practical applications, such as the control of micro-feed, when the micro-feed reaches its destination, the main winch is controlled by adjusting the electro-proportional speed control valve 85 and the auxiliary valve 40. However, due to internal leakage in the low-speed feed motor 30, it may still be running when it needs to be stopped, resulting in low precision in micro-feed control and potential equipment damage. This invention, by setting up a rectifier valve group 80, switches from the feed state to the lift state using the auxiliary valve 40 and the electro-proportional speed control valve 85 when the micro-feed reaches its destination. This compensates for the internal leakage of the low-speed feed motor 30, eliminates the control dead zone, and prevents the situation where the feed continues to be fed when it needs to be stopped due to the internal leakage of the low-speed feed motor 30.

[0035] In some possible embodiments of the present invention, the rectifier valve assembly 80 includes: a first check valve 81, a second check valve 82, a third check valve 83, a fourth check valve 84, and an electro-proportional speed control valve 85; the first check valve 81, the second check valve 82, the third check valve 83, and the fourth check valve 84 are connected to each other to form a hydraulic rectifier bridge circuit; the electro-proportional speed control valve 85 is connected to the hydraulic rectifier bridge circuit to regulate the flow rate of hydraulic oil in the hydraulic rectifier bridge circuit; wherein, the hydraulic oil flows back to the oil tank 70 after passing through the auxiliary valve 40, the low-speed feed motor 30, the first check valve 81, the electro-proportional speed control valve 85, and the third check valve 83 in sequence, forming a feed oil circuit 50; the hydraulic oil flows back to the oil tank 70 after passing through the auxiliary valve 40, the second check valve 82, the electro-proportional speed control valve 85, the fourth check valve 84, and the low-speed feed motor 30 in sequence, forming an upward oil circuit 60.

[0036] Specifically, this embodiment provides an implementation of a rectifier valve group 80. A rectifier bridge circuit is formed by connecting a first one-way valve 81, a second one-way valve 82, a third one-way valve 83, and a fourth one-way valve 84. The connection between the electro-proportional speed control valve 85 and the rectifier bridge circuit enables the regulation of flow rate during feeding and lifting. Furthermore, it enables bidirectional speed control during feeding and lifting in micro-control, thereby eliminating the control dead zone caused by internal leakage of the low-speed feed motor 30.

[0037] In some specific embodiments of the present invention, such as Figures 4 to 10 As shown, this solution provides a control method for a micro-feed control device of a twin-wheel grooving machine, including: Based on the operation information, the preset feed force threshold and the instant feed force feedback value are determined. The operation information includes the micro-feed start command of the twin-wheel grooving machine. The preset feed force threshold is the preset mechanical feedback parameter in the micro-feed process, and the instant feed force feedback value is the real-time mechanical feedback parameter in the micro-feed. Based on the preset feed force threshold and the real-time feed force feedback value, the micro-feed adjustment decision is determined; The operation of the twin-wheel grooving machine is adjusted based on the micro-feed adjustment decision.

[0038] It should be noted that by acquiring the preset feed force threshold and the real-time feed force feedback value, and by regulating the bidirectional speed during the feeding and lifting processes through the rectifier valve group 80, compensation for the internal leakage of the low-speed feed motor 30 during the micro-feeding process is achieved, thus eliminating the existence of the control dead zone.

[0039] In some possible embodiments of the present invention, the step of determining the micro-feed adjustment decision based on a preset feed force threshold and an instantaneous feed force feedback value specifically includes: When the preset feed force threshold is less than the instantaneous feed force feedback value, the auxiliary valve 40 supplies oil to the low-speed feed motor 30 through the feed oil circuit 50, and the current of the electro-proportional speed control valve 85 is greater than the minimum critical value, a first adjustment strategy is determined. The first adjustment strategy includes reducing the current of the electro-proportional speed control valve 85, maintaining the auxiliary valve 40 supplying oil to the low-speed feed motor 30 through the feed oil circuit 50, and simultaneously reducing the feed of the dual-wheel milling machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. Generate micro-feed control decisions based on the first control strategy; The minimum critical value is the critical closing value of the electro-proportional speed control valve 85.

[0040] Specifically, this embodiment provides an implementation method for determining the first adjustment strategy. By acquiring and comparing the preset feed force threshold and the instantaneous feed force feedback value in real time, when the preset feed force threshold is less than the instantaneous feed force feedback value, the current of the electro-proportional speed control valve 85 is monitored to determine whether the flow rate of the electro-proportional speed control valve 85 is close to the minimum critical value. Based on the situation of the electro-proportional speed control valve 85, it is determined that the electro-proportional speed control valve 85 is not close to the minimum critical value. The control of the electro-proportional speed control valve 85 and the feed speed of the twin-wheel milling machine is then achieved, thereby realizing bidirectional speed control during the feeding and lifting processes.

[0041] In some possible embodiments of the present invention, the step of determining the micro-feed adjustment decision based on a preset feed force threshold and an instantaneous feed force feedback value specifically includes: When the preset feed force threshold is less than the instantaneous feed force feedback value, the auxiliary valve 40 supplies oil to the low-speed feed motor 30 through the feed oil circuit 50, and the current of the electro-proportional speed control valve 85 is equal to the minimum critical value, a second adjustment strategy is determined. The second adjustment strategy includes switching the auxiliary valve 40 to supply oil to the low-speed feed motor 30 through the lifting oil circuit 60, increasing the current of the electro-proportional speed control valve 85, and simultaneously reducing the feed of the twin-wheel grooving machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. Generate micro-feed control decisions based on the second control strategy; The minimum critical value is the critical closing value of the electro-proportional speed control valve 85.

[0042] Specifically, this embodiment provides an implementation method for determining the second adjustment strategy. By acquiring and comparing the preset feed force threshold and the instantaneous feed force feedback value in real time, when the preset feed force threshold is less than the instantaneous feed force feedback value, the current of the electro-proportional speed control valve 85 is monitored to determine that the flow rate of the electro-proportional speed control valve 85 is equal to the minimum critical value. At this time, the auxiliary valve 40 needs to switch from the feed oil circuit 50 to the lifting oil circuit 60 and increase the current of the electro-proportional speed control valve 85 so that the milling hoist 10 can be lifted quickly, thereby eliminating the control dead zone problem caused by the internal leakage of the low-speed feed motor 30. This achieves micro-adjustment of the feed speed of the electro-proportional speed control valve 85 and the twin-wheel milling machine, improving the control accuracy.

[0043] In some possible embodiments of the present invention, the step of determining the micro-feed adjustment decision based on a preset feed force threshold and an instantaneous feed force feedback value specifically includes: When the preset feed force threshold is less than the instantaneous feed force feedback value, the auxiliary valve 40 supplies oil to the low-speed feed motor 30 through the lifting oil passage 60, and the current of the electro-proportional speed control valve 85 is greater than the minimum critical value, a third adjustment strategy is determined. The third adjustment strategy includes maintaining the auxiliary valve 40 supplying oil to the low-speed feed motor 30 through the lifting oil passage 60, increasing the current of the electro-proportional speed control valve 85, and simultaneously reducing the feed of the milling machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. Generate micro-feed control decisions based on the third control strategy; The minimum critical value is the critical closing value of the electro-proportional speed control valve 85.

[0044] Specifically, this embodiment provides an implementation method for determining the third adjustment strategy. By acquiring and comparing the preset feed force threshold and the instantaneous feed force feedback value in real time, when the preset feed force threshold is less than the instantaneous feed force feedback value, the current of the electro-proportional speed control valve 85 is monitored to determine that the flow rate of the electro-proportional speed control valve 85 is greater than the minimum critical value. At this time, the auxiliary valve 40 needs to switch from the feed oil circuit 50 to the lifting oil circuit 60 and increase the current of the electro-proportional speed control valve 85 so that the milling hoist 10 can be lifted quickly, thereby eliminating the control dead zone problem caused by the internal leakage of the low-speed feed motor 30. This achieves micro-adjustment of the feed speed of the electro-proportional speed control valve 85 and the twin-wheel milling machine, improving the control accuracy.

[0045] In some possible embodiments of the present invention, the step of determining the micro-feed adjustment decision based on a preset feed force threshold and an instantaneous feed force feedback value specifically includes: When the preset feed force threshold is greater than the instantaneous feed force feedback value, and the auxiliary valve 40 supplies oil to the low-speed feed motor 30 through the lifting oil passage 60, a fourth adjustment strategy is determined. The fourth adjustment strategy includes maintaining the auxiliary valve 40 supplying oil to the low-speed feed motor 30 through the lifting oil passage 60, reducing the current of the electro-proportional speed control valve 85, and increasing the feed speed of the dual-wheel milling machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. The micro-feed control decision is generated based on the fourth control strategy.

[0046] Specifically, this embodiment provides an implementation method for determining the fourth adjustment strategy. By acquiring and comparing the preset feed force threshold and the instantaneous feed force feedback value in real time, when the preset feed force threshold is greater than the instantaneous feed force feedback value, the specific oil supply circuit of the auxiliary valve 40 is judged. It is determined that the auxiliary valve 40 supplies oil to the low-speed feed motor 30 through the lifting oil circuit 60 at this time, and the control of the feed speed of the electro-proportional speed control valve 85 and the twin-wheel milling machine is determined, thereby realizing the bidirectional speed control during the feeding and lifting processes.

[0047] In some possible embodiments of the present invention, the step of determining the micro-feed adjustment decision based on a preset feed force threshold and an instantaneous feed force feedback value specifically includes: When the preset feed force threshold is greater than the instantaneous feed force feedback value, the auxiliary valve 40 supplies oil to the low-speed feed motor 30 through the lifting oil circuit 60, and the current of the electro-proportional speed control valve 85 is equal to the minimum critical value, the fifth adjustment strategy is determined. The fifth adjustment strategy includes switching the auxiliary valve 40 to supply oil to the low-speed feed motor 30 through the feed oil circuit 50, increasing the current of the electro-proportional speed control valve 85, and increasing the feed speed of the twin-wheel grooving machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. Generate micro-feed control decisions based on the fifth control strategy; The minimum critical value is the critical closing value of the electro-proportional speed control valve 85.

[0048] Specifically, this embodiment provides an implementation method for determining the fifth adjustment strategy. By acquiring and comparing the preset feed force threshold and the instantaneous feed force feedback value in real time, when the preset feed force threshold is greater than the instantaneous feed force feedback value, the current of the electro-proportional speed control valve 85 is monitored to determine whether the flow rate of the electro-proportional speed control valve 85 is close to the minimum critical value. Based on the situation of the electro-proportional speed control valve 85, it is determined that the electro-proportional speed control valve 85 is close to the minimum critical value. The auxiliary valve 40 switches from the lifting oil circuit 60 to the feed oil circuit 50. At the same time, the current of the electro-proportional speed control valve 85 increases, and the feed speed of the twin-wheel milling machine increases, thereby realizing bidirectional speed control during the feeding and lifting processes.

[0049] In some possible embodiments of the present invention, the step of determining the micro-feed adjustment decision based on a preset feed force threshold and an instantaneous feed force feedback value specifically includes: When the preset feed force threshold is greater than the instantaneous feed force feedback value, the auxiliary valve 40 supplies oil to the low-speed feed motor 30 through the feed oil circuit 50, and the current of the electro-proportional speed control valve 85 is greater than the minimum critical value, a sixth adjustment strategy is determined. The sixth adjustment strategy includes maintaining the auxiliary valve 40 supplying oil to the low-speed feed motor 30 through the feed oil circuit 50, increasing the current of the electro-proportional speed control valve 85, and increasing the feed speed of the milling machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. Generate micro-feed control decisions based on the sixth control strategy; The minimum critical value is the critical closing value of the electro-proportional speed control valve 85.

[0050] Specifically, this embodiment provides an implementation method for determining the sixth adjustment strategy. By acquiring and comparing the preset feed force threshold and the instantaneous feed force feedback value in real time, when the preset feed force threshold is greater than the instantaneous feed force feedback value, the current of the electro-proportional speed control valve 85 is monitored to determine whether the flow rate of the electro-proportional speed control valve 85 is greater than the minimum critical value. Based on the situation of the electro-proportional speed control valve 85, it is determined that the electro-proportional speed control valve 85 is greater than the minimum critical value. The auxiliary valve 40 is kept as the feed oil circuit 50. At the same time, the current of the electro-proportional speed control valve 85 increases, and the feed speed of the twin-wheel milling machine increases, thereby realizing bidirectional speed control during the feeding and lifting processes.

[0051] In some possible embodiments of the present invention, the step of adjusting the operation of the twin-wheel grooving machine based on the micro-feed adjustment decision specifically includes: Based on the premise that the preset feed force limit threshold is equal to the instantaneous feed force feedback value, the seventh adjustment strategy is determined. The seventh adjustment strategy includes cutting off the oil supply of the auxiliary valve 40, closing the electric proportional speed control valve 85, and locking the brake. The preset feed force limit threshold is the limit value of the preset mechanical feedback parameter in the micro-feed process. The micro-feed control decision is generated based on the seventh control strategy.

[0052] Specifically, this embodiment provides an implementation method for determining the seventh adjustment strategy. When the preset feed force threshold is equal to the instantaneous feed force feedback value, the oil supply is cut off, the electro-proportional speed control valve 85 is closed, the brake is locked, and the micro-feed adjustment ends.

[0053] It should be noted that the preset feed force threshold is dynamically adjusted based on the preset feed force threshold during closed-loop control. The preset feed force limit threshold is equivalent to a safety threshold, ensuring that the equipment will not be damaged. Therefore, when this threshold condition is reached during normal use, the milling hoist feed is stopped and the brake is locked to provide safety protection.

[0054] In a possible embodiment, the twin-wheel grooving machine includes: a grooving winch 10 and a reducer 20 connected to the grooving winch 10; a low-speed feed motor 30 connected to the low-speed feed end of the reducer 20; an auxiliary valve 40 connected to the low-speed feed motor 30 via a feed oil passage 50 and an upward lifting oil passage 60, respectively; and a rectifier valve group 80 disposed in the upward lifting oil passage 60 for bidirectional speed control during the feeding and lifting processes.

[0055] It should be noted that by setting the rectifier valve group 80, the feed and lift speeds in the micro-control are regulated, thereby eliminating the control dead zone problem caused by the internal leakage of the low-speed feed motor 30.

[0056] In detail, in practical applications, such as the control of micro-feed, when the micro-feed reaches its destination, the main winch is controlled by adjusting the electro-proportional speed control valve 85 and the auxiliary valve 40. However, due to internal leakage in the low-speed feed motor 30, it may still be running when it needs to be stopped, resulting in low precision in micro-feed control and potential equipment damage. This invention, by setting up a rectifier valve group 80, switches from the feed state to the lift state using the auxiliary valve 40 and the electro-proportional speed control valve 85 when the micro-feed reaches its destination. This compensates for the internal leakage of the low-speed feed motor 30, eliminates the control dead zone, and prevents the situation where the feed continues to be fed when it needs to be stopped due to the internal leakage of the low-speed feed motor 30.

[0057] In some possible embodiments of the present invention, the rectifier valve assembly 80 includes: a first check valve 81, a second check valve 82, a third check valve 83, a fourth check valve 84, and an electro-proportional speed control valve 85; the first check valve 81, the second check valve 82, the third check valve 83, and the fourth check valve 84 are connected to each other to form a hydraulic rectifier bridge circuit; the electro-proportional speed control valve 85 is connected to the hydraulic rectifier bridge circuit to regulate the flow rate of hydraulic oil in the hydraulic rectifier bridge circuit; wherein, the hydraulic oil flows back to the oil tank 70 after passing through the auxiliary valve 40, the low-speed feed motor 30, the first check valve 81, the electro-proportional speed control valve 85, and the third check valve 83 in sequence, forming a feed oil circuit 50; the hydraulic oil flows back to the oil tank 70 after passing through the auxiliary valve 40, the second check valve 82, the electro-proportional speed control valve 85, the fourth check valve 84, and the low-speed feed motor 30 in sequence, forming an upward oil circuit 60.

[0058] Specifically, this embodiment provides an implementation of a rectifier valve group 80. A rectifier bridge circuit is formed by connecting a first one-way valve 81, a second one-way valve 82, a third one-way valve 83, and a fourth one-way valve 84. The connection between the electro-proportional speed control valve 85 and the rectifier bridge circuit enables the regulation of flow rate during feeding and lifting. Furthermore, it enables bidirectional speed control during feeding and lifting in micro-control, thereby eliminating the control dead zone caused by internal leakage of the low-speed feed motor 30.

[0059] In some specific embodiments of the present invention, such as Figure 11 As shown, this solution provides a micro-feed control system for a twin-wheel grooving machine, including: The information determination module 100 is used to determine the preset feed force threshold and the instant feed force feedback value based on the operation information. The operation information includes the micro-feed start command of the twin-wheel grooving machine, the preset feed force threshold is the preset mechanical feedback parameter in the micro-feed process, and the instant feed force feedback value is the real-time mechanical feedback parameter in the micro-feed. The decision generation module 110 is used to determine the micro-feed adjustment decision based on the preset feed force threshold and the real-time feed force feedback value. The decision execution module 120 is used to adjust the operation of the twin-wheel grooving machine based on the micro-feed adjustment decision.

[0060] Optionally, the step of determining the micro-feed adjustment decision based on the preset feed force threshold and the instantaneous feed force feedback value specifically includes: When the preset feed force threshold is less than the instantaneous feed force feedback value and the current of the electro-proportional speed control valve 85 is greater than the minimum critical value, a first adjustment strategy is determined. The first adjustment strategy includes reducing the current of the electro-proportional speed control valve 85 and simultaneously reducing the feed of the twin-wheel milling machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. Generate micro-feed control decisions based on the first control strategy; The minimum critical value is the critical closing value of the electro-proportional speed control valve 85.

[0061] Specifically, this embodiment provides an implementation method for determining a first adjustment strategy.

[0062] Optionally, the step of determining the micro-feed adjustment decision based on the preset feed force threshold and the instantaneous feed force feedback value specifically includes: When the preset feed force threshold is less than the instantaneous feed force feedback value and the current of the electro-proportional speed control valve 85 is equal to the minimum critical value, a second adjustment strategy is determined. The second adjustment strategy includes the auxiliary valve 40 supplying oil to the low-speed feed motor 30 through the lifting oil circuit 60, increasing the current of the electro-proportional speed control valve 85, and simultaneously reducing the feed of the dual-wheel milling machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. Generate micro-feed control decisions based on the second control strategy; The minimum critical value is the critical closing value of the electro-proportional speed control valve 85.

[0063] Specifically, this embodiment provides an implementation method for determining a second adjustment strategy.

[0064] Optionally, the step of determining the micro-feed adjustment decision based on the preset feed force threshold and the instantaneous feed force feedback value specifically includes: When the preset feed force threshold is greater than the instantaneous feed force feedback value, and the auxiliary valve 40 supplies oil to the low-speed feed motor 30 through the lifting oil circuit 60, a fourth adjustment strategy is determined. The fourth adjustment strategy includes reducing the current of the electro-proportional speed control valve 85 and increasing the feed speed of the twin-wheel milling machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. The micro-feed control decision is generated based on the fourth control strategy.

[0065] Specifically, this embodiment provides an implementation method for determining a fourth adjustment strategy.

[0066] Optionally, the step of determining the micro-feed adjustment decision based on the preset feed force threshold and the instantaneous feed force feedback value specifically includes: When the preset feed force threshold is greater than the instantaneous feed force feedback value and the current of the electro-proportional speed control valve 85 is equal to the minimum critical value, the fifth adjustment strategy is determined. The fifth adjustment strategy includes the auxiliary valve 40 supplying oil to the low-speed feed motor 30 through the feed oil circuit 50, increasing the current of the electro-proportional speed control valve 85, and increasing the feed speed of the twin-wheel grooving machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. Generate micro-feed control decisions based on the fifth control strategy; The minimum critical value is the critical closing value of the electro-proportional speed control valve 85.

[0067] Specifically, this embodiment provides an implementation method for determining the fifth adjustment strategy.

[0068] Optionally, the steps for adjusting the operation of the twin-wheel grooving machine based on the micro-feed adjustment decision also include: Based on the premise that the preset feed force threshold is equal to the instantaneous feed force feedback value, the fifth adjustment strategy is determined. The fifth adjustment strategy includes cutting off the oil supply of the auxiliary valve 40, closing the electric proportional speed control valve 85, and locking the brake. The micro-feed control decision is generated based on the fifth control strategy.

[0069] Specifically, this embodiment provides an implementation method for determining the fifth adjustment strategy.

[0070] In some specific embodiments of the present invention, such as Figures 4 to 10 As shown, this solution provides a twin-wheel grooving machine with the micro-feed control device of the twin-wheel grooving machine described above; Alternatively, the control method of the micro-feed control device of the above-mentioned twin-wheel grooving machine; Alternatively, the micro-feed control system of the aforementioned twin-wheel grooving machine.

[0071] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0072] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of embodiments.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A micro-feed control device for a twin-wheel grooving machine, the twin-wheel grooving machine comprising: A grooving winch (10) and a speed reducer (20) connected to the grooving winch (10); The device is characterized in that it comprises: A low-speed feed motor (30) is connected to the low-speed feed end of the reducer (20); The auxiliary valve (40) is connected to the low-speed feed motor (30) through the feed oil passage (50) and the lifting oil passage (60), respectively. A rectifier valve assembly (80) is provided in the lifting oil circuit (60) to realize bidirectional speed regulation during the feeding and lifting processes; The rectifier valve group (80) includes: a first check valve (81), a second check valve (82), a third check valve (83), a fourth check valve (84), and an electro-proportional speed control valve (85). The first check valve (81), the second check valve (82), the third check valve (83) and the fourth check valve (84) are connected to each other to form a hydraulic rectifier bridge circuit; The electro-proportional speed control valve (85) is connected to the hydraulic rectifier bridge circuit and is used to adjust the hydraulic oil flow rate in the hydraulic rectifier bridge circuit. The hydraulic oil flows back to the oil tank (70) after passing through the auxiliary valve (40), the low-speed feed motor (30), the first check valve (81), the electro-proportional speed control valve (85) and the third check valve (83) in sequence, forming the feed oil circuit (50). The hydraulic oil flows back to the oil tank (70) after passing through the auxiliary valve (40), the second check valve (82), the electro-proportional speed control valve (85), the fourth check valve (84), and the low-speed feed motor (30) in sequence, forming the lifting oil circuit (60).

2. A control method for the micro-feed control device of the twin-wheel grooving machine according to claim 1, characterized in that, include: Based on the operation information, a preset feed force threshold and an instant feed force feedback value are determined. The operation information includes the micro-feed start command of the twin-wheel milling machine. The preset feed force threshold is a preset mechanical feedback parameter in the micro-feed process. The instant feed force feedback value is a real-time mechanical feedback parameter in the micro-feed. Based on the preset feed force threshold and the instantaneous feed force feedback value, a micro-feed adjustment decision is determined. The operation of the twin-wheel grooving machine is adjusted based on the micro-feed adjustment decision.

3. The micro-feed control method for a twin-wheel grooving machine according to claim 2, characterized in that, The step of determining the micro-feed adjustment decision based on the preset feed force threshold and the instantaneous feed force feedback value specifically includes: When the preset feed force threshold is less than the instantaneous feed force feedback value, the auxiliary valve (40) supplies oil to the low-speed feed motor (30) through the feed oil circuit (50), and the current of the electro-proportional speed control valve (85) is greater than the minimum critical value, a first adjustment strategy is determined. The first adjustment strategy includes reducing the current of the electro-proportional speed control valve (85), maintaining the auxiliary valve (40) supplying oil to the low-speed feed motor (30) through the feed oil circuit (50), and simultaneously reducing the feed of the twin-wheel grooving machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. The micro-feed adjustment decision is generated based on the first adjustment strategy; Wherein, the minimum critical value is the critical closing value of the electro-proportional speed control valve (85); Alternatively, if the preset feed force threshold is less than the instantaneous feed force feedback value, the auxiliary valve (40) supplies oil to the low-speed feed motor (30) through the feed oil circuit (50), and the current of the electro-proportional speed control valve (85) is equal to the minimum critical value, a second adjustment strategy is determined. The second adjustment strategy includes switching the auxiliary valve (40) to supply oil to the low-speed feed motor (30) through the lifting oil circuit (60), increasing the current of the electro-proportional speed control valve (85), and simultaneously reducing the feed of the twin-wheel milling machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. The micro-feed adjustment decision is generated based on the second adjustment strategy; The minimum critical value is the critical closing value of the electro-proportional speed control valve (85).

4. The micro-feed control method for a twin-wheel grooving machine according to claim 2, characterized in that, The step of determining the micro-feed adjustment decision based on the preset feed force threshold and the instantaneous feed force feedback value specifically includes: When the preset feed force threshold is less than the instantaneous feed force feedback value, the auxiliary valve (40) supplies oil to the low-speed feed motor (30) through the lifting oil passage (60), and the current of the electro-proportional speed control valve (85) is greater than the minimum critical value, a third adjustment strategy is determined. The third adjustment strategy includes maintaining the auxiliary valve (40) supplying oil to the low-speed feed motor (30) through the lifting oil passage (60), increasing the current of the electro-proportional speed control valve (85), and simultaneously reducing the feed of the milling machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. The micro-feed adjustment decision is generated based on the third adjustment strategy; The minimum critical value is the critical closing value of the electro-proportional speed control valve (85).

5. The micro-feed control method for a twin-wheel grooving machine according to claim 2, characterized in that, The step of determining the micro-feed adjustment decision based on the preset feed force threshold and the instantaneous feed force feedback value specifically includes: When the preset feed force threshold is greater than the instantaneous feed force feedback value, and the auxiliary valve (40) supplies oil to the low-speed feed motor (30) through the lifting oil passage (60), a fourth adjustment strategy is determined. The fourth adjustment strategy includes maintaining the auxiliary valve (40) supplying oil to the low-speed feed motor (30) through the lifting oil passage (60), reducing the current of the electro-proportional speed control valve (85), and increasing the feed speed of the dual-wheel grooving machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. The micro-feed adjustment decision is generated based on the fourth adjustment strategy.

6. The micro-feed control method for a twin-wheel grooving machine according to claim 2, characterized in that, The step of determining the micro-feed adjustment decision based on the preset feed force threshold and the instantaneous feed force feedback value specifically includes: When the preset feed force threshold is greater than the instantaneous feed force feedback value, the auxiliary valve (40) supplies oil to the low-speed feed motor (30) through the lifting oil passage (60), and the current of the electro-proportional speed control valve (85) is equal to the minimum critical value, a fifth adjustment strategy is determined. The fifth adjustment strategy includes switching the auxiliary valve (40) to supply oil to the low-speed feed motor (30) through the feed oil passage (50), increasing the current of the electro-proportional speed control valve (85), and increasing the feed speed of the dual-wheel milling machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. The micro-feed adjustment decision is generated based on the fifth adjustment strategy; The minimum critical value is the critical closing value of the electro-proportional speed control valve (85).

7. The micro-feed control method for a twin-wheel grooving machine according to claim 2, characterized in that, The step of determining the micro-feed adjustment decision based on the preset feed force threshold and the instantaneous feed force feedback value specifically includes: When the preset feed force threshold is greater than the instantaneous feed force feedback value, the auxiliary valve (40) supplies oil to the low-speed feed motor (30) through the feed oil circuit (50), and the current of the electro-proportional speed control valve (85) is greater than the minimum critical value, a sixth adjustment strategy is determined. The sixth adjustment strategy includes maintaining the auxiliary valve (40) supplying oil to the low-speed feed motor (30) through the feed oil circuit (50), increasing the current of the electro-proportional speed control valve (85), and increasing the feed speed of the milling machine until the preset feed force threshold is equal to the instantaneous feed force feedback value. The micro-feed adjustment decision is generated based on the sixth adjustment strategy; The minimum critical value is the critical closing value of the electro-proportional speed control valve (85).

8. The micro-feed control method for a twin-wheel grooving machine according to any one of claims 2 to 7, characterized in that, The step of adjusting the operation of the twin-wheel grooving machine based on the micro-feed adjustment decision further includes: Based on the premise that the preset feed force limit threshold is equal to the instantaneous feed force feedback value, a seventh adjustment strategy is determined. The seventh adjustment strategy includes cutting off the oil supply of the auxiliary valve (40), closing the electric proportional speed control valve (85), and locking the brake. The preset feed force limit threshold is the limit value of the preset mechanical feedback parameter in the micro-feed process. The micro-feed adjustment decision is generated based on the seventh adjustment strategy.

9. A control system for the micro-feed control device of the twin-wheel grooving machine according to claim 1, characterized in that, include: The information determination module (100) is used to determine a preset feed force threshold and an instant feed force feedback value based on operation information. The operation information includes the micro-feed start command of the twin-wheel milling machine. The preset feed force threshold is a preset mechanical feedback parameter in the micro-feed process. The instant feed force feedback value is a real-time mechanical feedback parameter in the micro-feed. The decision generation module (110) is used to determine the micro-feed adjustment decision based on the preset feed force threshold and the instantaneous feed force feedback value; The decision execution module (120) is used to adjust the operation of the twin-wheel grooving machine based on the micro-feed adjustment decision.

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