Winch brake control system and method and crane

Abstract

The invention belongs to the technical field of winch control, and discloses a winch brake control system and method, and the system is characterized in that a winch brake is connected with a hydraulic control reversing valve through a pipeline; the hydraulic control reversing valve is in pipeline connection with the oil pump through an oil supply branch, the hydraulic control reversing valve is in pipeline connection with the oil tank through an oil return branch, and the oil pump is further connected with the oil tank through a pipeline; the hydraulic control reversing valve is used for controlling the on-off of the oil feeding path and the oil returning path; the hydraulic control pilot end of the hydraulic control reversing valve is connected to the lifting control device; the torque compensation unit is connected with the spring end of the hydraulic control reversing valve, the torque compensation unit is in communication connection with the controller, the controller is in communication connection with the tension sensor, and the tension sensor is used for detecting the tension of a heavy object acting on the steel wire rope. When the load weight is heavy, brake unlocking is delayed, and the problem of heavy-load hook slipping is solved.

Description

Technical Field

[0001] The invention relates to the technical field of winch control, and in particular to a winch braking control system, method and crane. Background Art

[0002] The winch is an important equipment in the crane. It is a light and small lifting equipment that uses a drum to wind a wire rope or chain to lift or pull heavy objects. The winch can lift vertically, horizontally or tiltedly to pull heavy objects. It is widely used because of its simple operation, large rope winding capacity, and convenient relocation. After the heavy object is hung on the crane hook, when the heavy object is not being lifted or lowered, the winch needs to be locked by the winch brake. When the heavy object is being lifted or lowered, the winch brake needs to be unlocked. However, if the weight of the lifted object is very heavy, the lifting force of the lifting system has not accurately compensated for the gravity of the heavy object. It is easy for the heavy load to slip off the hook at the moment the winch lock is released. Therefore, how to prevent the heavy load from slipping off the hook when the winch brake is unlocked is a problem that needs to be solved. Summary of the invention

[0003] In view of this, the present invention provides a winch brake control system, method and crane to solve the problem of heavy-load hook slipping when the winch brake is unlocked.

[0004] In the first aspect, the present invention provides a winch brake control system, comprising: a hydraulic motor, a winch brake, a hydraulically controlled reversing valve, an oil tank, an oil pump, a lifting control device, a controller, a tension sensor and a torque compensation unit; the hydraulic motor is used to drive the winch; the piston rod of the winch brake can abut against the output shaft of the hydraulic motor to control the rotation of the hydraulic motor; the winch brake is connected to the hydraulically controlled reversing valve pipeline; the hydraulically controlled reversing valve is connected to the oil pump through an oil supply branch pipeline, the hydraulically controlled reversing valve is connected to the oil tank pipeline through an oil return branch, and the oil pump is also connected to the oil tank through a pipeline; the hydraulically controlled reversing valve is used to control the on-off of the oil supply path and the oil return path; the hydraulically controlled pilot end of the hydraulically controlled reversing valve is connected to the lifting control device; the torque compensation unit is connected to the spring end of the hydraulically controlled reversing valve, the torque compensation unit is communicatively connected to the controller, the controller is communicatively connected to the tension sensor, and the tension sensor is used to detect the tension of the weight acting on the wire rope.

[0005] In some optional embodiments, the torque compensation unit includes a motor and a rack, the motor is communicatively connected to the controller, the rack is connected to the rotating shaft of the motor through a gear, one end of the rack faces the spring end of the hydraulically controlled reversing valve, the motor is used to control the rack to move toward the spring end of the hydraulically controlled reversing valve by rotation, and one end of the rack is used to provide compensation force by resisting the spring end of the hydraulically controlled reversing valve.

[0006] In some optional embodiments, the torque compensation unit is arranged in the oil return branch; wherein the torque compensation unit includes a first electromagnetic reversing valve and a relief valve, the control end of the first electromagnetic reversing valve is communicatively connected to the controller, the input end of the first electromagnetic reversing valve is connected to the return oil end pipeline of the hydraulically controlled reversing valve, the first output end of the first electromagnetic reversing valve is connected to the oil tank pipeline, the second output end of the first electromagnetic reversing valve is connected to the input end pipeline of the relief valve, the output end of the relief valve is connected to the oil tank pipeline, and the return oil end of the hydraulically controlled reversing valve is also connected to the spring end pipeline of the hydraulically controlled reversing valve; the first electromagnetic reversing valve includes a third working position and a fourth working position, the third working position is used to connect the input end and the first output end of the first electromagnetic reversing valve, and the fourth working position is used to connect the input end and the second output end of the first electromagnetic reversing valve.

[0007] In some optional embodiments, a solenoid valve is further included, wherein the solenoid valve is arranged between the lifting control device and the hydraulically controlled pilot end of the hydraulically controlled reversing valve, the solenoid valve is communicatively connected to the controller, and the controller is communicatively connected to the tension sensor.

[0008] In some optional embodiments, the solenoid valve is a second solenoid reversing valve, the output end of the second solenoid reversing valve is connected to the hydraulically controlled pilot end pipeline of the hydraulically controlled reversing valve, the first input end of the second solenoid reversing valve is connected to the oil return branch, the second input end of the second solenoid reversing valve is connected to the output end pipeline of the lifting control device, the spring end of the hydraulically controlled reversing valve is connected to the oil return branch, the control end of the second solenoid reversing valve is communicatively connected to the controller, and the second solenoid reversing valve includes a fifth working position and a sixth working position, the fifth working position is used to conduct the first input end and the output end of the second solenoid reversing valve, and the sixth working position is used to conduct the second input end and the output end of the second solenoid reversing valve.

[0009] In a second aspect, the present invention provides a winch braking control method for a controller, comprising: when the hydraulic control handle is operated, detecting the tension value through a tension sensor; when the tension value is greater than a preset force threshold, performing torque compensation on the spring end of the hydraulic control reversing valve through a torque compensation unit.

[0010] In some optional implementations, performing torque compensation on the spring end of the hydraulically controlled reversing valve by means of a torque compensation unit includes: controlling the first electromagnetic reversing valve to switch from a third working position to a fourth working position.

[0011] In some optional embodiments, it also includes: when the tension value is less than or equal to the preset force threshold, the solenoid valve is opened after a first preset time to connect the output end of the lifting control device with the hydraulically controlled pilot end of the hydraulically controlled reversing valve; when the tension value is greater than the preset force threshold, the solenoid valve is opened after a second preset time to connect the output end of the lifting control device with the hydraulically controlled pilot end of the hydraulically controlled reversing valve, and the second preset time is greater than the first preset time.

[0012] In some optional embodiments, when the tension value is less than or equal to the preset force threshold, the solenoid valve is opened after a first preset time, including: when the tension value is less than or equal to the preset force threshold, the second solenoid reversing valve is switched from the fifth working position to the sixth working position after the first preset time.

[0013] In some optional embodiments, when the tension value is greater than the preset force threshold, the solenoid valve is opened after a second preset time, including: when the tension value is greater than the preset force threshold, the second solenoid reversing valve is switched from the fifth working position to the sixth working position after the second preset time.

[0014] In a third aspect, the present invention provides a crane comprising a vehicle body, a hook, a winch and a winch brake control system provided in any one of the first aspects; the winch is arranged on the vehicle body, the wire rope of the winch is connected to the hook, the hook is hung on the far end of the boom of the vehicle body through the wire rope, the winch brake control system is arranged in the vehicle body, and the hydraulic motor in the winch brake control system is connected to the drive shaft of the winch.

[0015] The technical solution provided by the present invention has the following advantages:

[0016] The winch brake control system provided by the present invention can detect the weight of the load to be hoisted by the crane through a tension sensor, so as to determine whether it is a heavy load. If it is a heavy load, the torque compensation unit can be controlled by a controller to apply a compensation force to the spring end of the hydraulically controlled reversing valve, so that when the hydraulically controlled handle is actuated, the hydraulically controlled reversing valve needs a longer time to open, so as to prepare for the lifting system to adjust the lifting force according to the load. When the hydraulically controlled reversing valve is opened, the winch brake is unlocked, and the lifting system has been adjusted. The lifting system can stably hold the load, thereby avoiding the problem of heavy-load hook slipping caused by directly releasing the winch brake. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 is a side view structural schematic diagram of a crane in the related art;

[0019] Figure 2 It is a structural schematic diagram of a winch brake control system of the related technology;

[0020] Figure 3 is a structural schematic diagram of a winch braking control system according to an embodiment of the present invention;

[0021] Figure 4 is another structural schematic diagram of a winch braking control system according to an embodiment of the present invention;

[0022] Figure 5 is another structural schematic diagram of a winch braking control system according to an embodiment of the present invention;

[0023] Figure 6 is another structural schematic diagram of a winch braking control system according to an embodiment of the present invention;

[0024] Figure 7 It is a flow chart of a winch braking control method according to an embodiment of the present invention.

[0025] Reference numerals:

[0026] Hydraulic motor 0, winch brake 1, hydraulically controlled reversing valve 2, torque compensation unit 3, tension sensor 4, oil pump 5, oil tank 6, shuttle valve 7, hydraulically controlled handle 8, controller 9, solenoid valve 10, second solenoid reversing valve 11, lifting control device 12. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0028] like Figure 1As shown, a side view of a crane having a pivotally connected truss boom and a vehicle body equipped with a cab. A winch (not shown) is a device used in a crane to lift heavy objects. The wire rope in the winch passes through the top of the truss boom and is connected to the hook. The winch winds or releases the wire rope to achieve the rise and fall of the hook, thereby achieving the lifting and lowering of the heavy object hung on the hook.

[0029] like Figure 2 It is a commonly used winch brake control system in the related art, which includes: hydraulic motor 0, winch brake 1, hydraulic control reversing valve 2, oil tank 6, oil pump 5, hydraulic control handle 8 and shuttle valve 7. The connection relationship between the components is that the oil cylinder of the winch brake 1 is connected to the oil outlet pipeline of the hydraulic control reversing valve 2, and the piston rod of the winch brake 1 can abut against the output shaft of the hydraulic motor 0, and the piston rod is controlled to move telescopically by controlling the pressure difference on both sides of the piston in the oil cylinder. A friction plate is installed at the end of the piston rod, and the distance between the friction plate and the output shaft of the hydraulic motor 0 is controlled to control the rotation of the hydraulic motor 0; the oil inlet end of the hydraulic control reversing valve 2 is connected to the output end pipeline of the oil pump 5, the oil return end of the hydraulic control reversing valve 2 is connected to the oil tank 6 through a pipeline through the oil return branch, and the input end of the oil pump 5 is connected to the oil tank 6 through a pipeline; the hydraulic control reversing valve 2 includes a first working position and a second working position, the first working position is used to conduct the oil outlet and oil inlet ends of the hydraulic control reversing valve 2, and the second working position is used to conduct the oil outlet and oil return ends of the hydraulic control reversing valve 2; the output end of the shuttle valve 7 is connected to the hydraulic pilot end pipeline of the hydraulic control reversing valve 2, and the input end of the shuttle valve 7 is connected to the control end pipeline of the hydraulic control handle 8; the oil inlet end of the hydraulic control handle 8 is connected to the output end pipeline of the oil pump 5, and the oil return end of the hydraulic control handle 8 is connected to the oil tank 6 pipeline. In some scenarios, other oil pumps can also be used separately to provide hydraulic oil for the hydraulic control handle 8.

[0030] In some specific scenarios, the hydraulic control handle 8 is installed in the cab, and the hydraulic control handle has an ascending side 8a and a descending side 8b. For example, the hydraulic control handle moves in the ascending direction to realize the winding of the wire rope in the winch, and moves in the descending direction to realize the release of the wire rope in the winch. However, whether ascending or descending, when the hydraulic control handle 8 is moved, the hydraulic control reversing valve 2 should be triggered to release the lock of the winch brake 1. The ascending side 8a and the descending side 8b each include an oil inlet end connected to the output end of the oil pump 5 by pipeline, and the ascending side 8a and the descending side 8b each include an oil return end connected to the oil tank 6 by pipeline, and the control ends of the two handles are connected to the input end of the shuttle valve 7 by pipeline.

[0031] Through the above-mentioned winch brake control system, when working, the operating handle moves the handle toward the rising side 8a or the descending side 8b, so that the hydraulic oil of the oil pump 5 flows in from the oil inlet end of the rising side 8a or the descending side 8b, and flows from the corresponding control end to the shuttle valve 7. The shuttle valve 7 transmits the hydraulic oil to the hydraulic pilot end of the hydraulically controlled reversing valve 2, supports the hydraulically controlled reversing valve 2 to overcome the elastic force of the spring end of the hydraulically controlled reversing valve 2, thereby switching the hydraulically controlled reversing valve 2 from the second working position to the first working position. The state of the first working position will connect the oil outlet end and the oil inlet end of the hydraulically controlled reversing valve 2, and the oil output by the oil pump 5 can be transmitted to the inside of the oil cylinder of the winch brake 1. The oil inside the oil cylinder of the winch brake 1 presses the spring of the winch brake 1, causing the piston rod of the winch brake 1 to contract and release the lock on the winch.

[0032] However, in actual application, the lifting system needs a certain amount of time to provide the appropriate lifting force according to the weight of the load. In other words, the hydraulic motor 0 needs a certain amount of preparation time to keep the lifted weight stable, that is, the corresponding lifting port of the hydraulic motor 0 needs to build pressure. If the weight of the lifted weight is very heavy, the winch brake control system will directly unlock when the lifting force output by the hydraulic motor 0 of the lifting system has not accurately compensated for the gravity of the weight, which may easily cause the heavy load to slip when the winch is unlocked. Therefore, how to prevent the heavy load from slipping when the winch brake 1 is unlocked is a problem that needs to be solved.

[0033] In order to solve the above problems, according to an embodiment of the present invention, a winch braking control system is provided, such as Figure 3 As shown, it includes: a hydraulic motor 0, a hoisting brake 1, a hydraulically controlled reversing valve 2, an oil tank 6, an oil pump 5, a lifting control device 12, a controller 9, a tension sensor 4 and a torque compensation unit 3;

[0034] The specific connection method is as follows: the oil cylinder of the hoisting brake 1 is connected to the oil outlet pipeline of the hydraulic control reversing valve 2; the oil inlet end of the hydraulic control reversing valve 2 is connected to the output end pipeline of the oil pump 5, and the input end of the oil pump 5 is connected to the oil tank 6 through a pipeline. The oil cylinder of the hoisting brake 1, the oil outlet end of the hydraulic control reversing valve 2, the oil inlet end of the hydraulic control reversing valve 2 and the oil pump 5 form an oil supply branch; the oil return end of the hydraulic control reversing valve 2 is connected to the oil tank 6 through a pipeline to form an oil return branch. The hydraulic control reversing valve 2 includes a first working position and a second working position. The hydraulic control reversing valve is used to control the opening and closing of the oil supply path and the oil return path through the first working position and the second working position. Among them, the first working position is used to conduct the oil outlet end and the oil inlet end of the hydraulic control reversing valve 2, thereby conducting the oil supply branch and the hoisting brake 1; the second working position is used to conduct the oil outlet end and the oil return end of the hydraulic control reversing valve 2, thereby conducting the oil return branch and the hoisting brake 1. The hydraulic pilot end of the hydraulically controlled reversing valve 2 is connected to the lifting control device 12, which is an operating platform for controlling the lifting or release of the crane. When the lifting control device 12 is actuated, the corresponding control pilot force will be transmitted to the hydraulically controlled reversing valve 2, thereby switching the hydraulically controlled reversing valve 2 between the first working position and the second working position.

[0035] exist Figure 3 In the figure, the lifting control device 12 is still explained by taking the structure of the shuttle valve 7 and the hydraulic control handle 8 as an example to facilitate the understanding of the scheme. However, in some other embodiments, the lifting control device 12 can also be replaced with an electronic control structure according to actual needs. As long as the lifting control device 12 can transmit the pilot force to the hydraulic pilot end of the hydraulic control reversing valve 2 when working, the present invention does not make specific limitations on the structure of the lifting control device 12.

[0036] exist Figure 3 In the embodiment, the output end of the shuttle valve 7 is connected to the hydraulic pilot end pipeline of the hydraulic control reversing valve 2, and the input end of the shuttle valve 7 is connected to the control end pipeline of the hydraulic control handle 8; the oil inlet end of the hydraulic control handle 8 is connected to the output end pipeline of the oil pump 5, and the oil return end of the hydraulic control handle 8 is connected to the pipeline of the oil tank 6. In some scenarios, other oil pumps can also be used separately to provide hydraulic oil for the hydraulic control handle 8.

[0037] In addition, the torque compensation unit 3 provided in the embodiment of the present invention is arranged at the spring end of the hydraulically controlled reversing valve 2, the torque compensation unit 3 is communicated with the controller 9, the controller 9 is communicated with the tension sensor 4, the tension sensor 4 is connected to the wire rope, and the tension sensor 4 is used to detect the tension of the heavy object on the wire rope and feed back the detected tension to the controller 9.

[0038] Specifically, according to the above-mentioned connection relationship, the structures and operating principles of the hydraulic motor 0, winch brake 1, hydraulically controlled reversing valve 2, oil tank 6, oil pump 5, hydraulically controlled handle 8, and shuttle valve 7 in the embodiment of the present invention are the same as those in the related technology, and can be referred to the above description, so they will not be repeated here.

[0039] In particular, the embodiment of the present invention adds a controller 9, a tension sensor 4 and a torque compensation unit 3 in the winch brake control system, thereby solving the above-mentioned problem of heavy-load hook slipping. The controller 9 is connected to the tension sensor 4 in communication, and the tension sensor 4 detects the mass or gravity of the heavy object hoisted by the crane. The hoisted heavy object is indirectly applied to the wire rope through the hook and other components. The tension in the wire rope is measured by the tension sensor 4, and the mass and gravity of the hoisted heavy object can be derived by conversion (this method is a known technology and will not be repeated here). The controller 9 obtains the data of the tension sensor 4 and determines whether it is overweight. For example, the detected tension is compared with the preset force threshold. If the detected tension is greater than the preset force threshold, it is judged that the load is overweight. If the detected tension is not greater than the preset force threshold, it is judged that the load is not overweight. The controller 9 can be a central processing unit, a network processor or a combination thereof. The controller 9 can also further include a hardware chip. The above-mentioned hardware chip can be a dedicated integrated circuit, a programmable logic device or a combination thereof. The above-mentioned programmable logic device can be a complex programmable logic device, a field programmable logic gate array, a general array logic or any combination thereof.

[0040] When the controller 9 determines that the load is not overweight, the problem of heavy-load hook slipping often does not occur. The hydraulically controlled reversing valve 2 can be controlled according to the conventional control process. The specific control process can refer to the description of the aforementioned related technology and will not be repeated here. When the load is overweight, in order to prevent the heavy-load hook from slipping, the controller 9 provided in the embodiment of the present invention controls the torque compensation unit 3 to apply a compensation force to the spring end of the hydraulically controlled reversing valve 2, increasing the resistance of the hydraulically controlled pilot end of the hydraulically controlled reversing valve 2, so that the shuttle valve 7 outputs more oil, so that the hydraulically controlled pilot end of the hydraulically controlled reversing valve 2 can establish a greater pressure, so as to promote the working position change of the hydraulically controlled reversing valve 2, and extend the time for the hydraulically controlled reversing valve 2 to switch from the second working position to the first working position. During this extended time t, the pressure building time of the lifting port of the hydraulic motor 0 is also extended by t, thereby achieving increased lifting force. When the hydraulically controlled reversing valve 2 is opened, the lock of the winch brake 1 is released. After the hydraulic motor 0 has been pressurized for t time, it will not cause the problem of instantaneous falling due to the heavy load (excessive gravity) and insufficient pressure at the lifting port of the hydraulic motor 0. Therefore, the hydraulic motor 0 of the lifting system can stably output the lifting force to hold the load, avoiding the problem of heavy-load hook slipping caused by directly releasing the winch brake 1.

[0041] In some optional embodiments, the torque compensation unit 3 may include a motor (not shown) and a rack (not shown), the motor is connected to the controller 9 in communication, the rack is connected to the rotating shaft of the motor through a gear, and the motor is used to control the movement of the rack by rotation. Thus, through the rotation of the motor, the rotational torque can be converted into a horizontal torque to control the extension and contraction of the gear. In addition, one end of the rack faces the spring end of the hydraulic control reversing valve 2.

[0042] Specifically, through the torque compensation unit 3 provided in the embodiment of the present invention, when the controller 9 determines that a compensation force needs to be applied to the spring end of the hydraulically controlled reversing valve 2, the gear is extended through the rotation of the motor to resist the spring end of the hydraulically controlled reversing valve 2, thereby providing a compensation force for the spring end of the hydraulically controlled reversing valve 2, increasing the resistance of the hydraulically controlled reversing valve 2 when switching the working position, thereby achieving the effect of delayed start.

[0043] In other optional embodiments, Figure 4 As shown, the torque compensation unit 3 is arranged in the oil return branch; wherein the torque compensation unit 3 includes a first electromagnetic reversing valve 3a and a relief valve 3b, the control end of the first electromagnetic reversing valve 3a is communicatively connected to the controller 9, the input end of the first electromagnetic reversing valve 3a is connected to the oil return end pipeline of the hydraulically controlled reversing valve 2, the first output end of the first electromagnetic reversing valve 3a is connected to the oil tank 6 pipeline, the second output end of the first electromagnetic reversing valve 3a is connected to the input end pipeline of the relief valve 3b, the output end of the relief valve 3b is connected to the oil tank 6 pipeline, and the oil return end of the hydraulically controlled reversing valve 2 is also connected to the spring end pipeline of the hydraulically controlled reversing valve 2; the first electromagnetic reversing valve 3a includes a third working position and a fourth working position, the third working position is used to conduct the input end and the first output end of the first electromagnetic reversing valve 3a, and the fourth working position is used to conduct the input end and the second output end of the first electromagnetic reversing valve 3a.

[0044] Through the technical solution provided by the embodiment of the present invention, another method of torque compensation through oil is realized. The controller 9 is connected to the tension sensor 4 for communication. The tension value of the heavy object hoisted by the crane is detected by the tension sensor 4. After acquiring the data, the controller 9 determines whether it is overweight, for example, by comparing the detected tension with a preset force threshold. If the detected tension is greater than the preset force threshold, it is determined that the load is overweight, and if the detected tension is not greater than the preset force threshold, it is determined that the load is not overweight.

[0045] When the load is not overweight, the problem of heavy-load hook slipping often does not occur. At this time, the controller 9 keeps the first electromagnetic reversing valve 3a in the third working position, so that the input end and the first output end of the first electromagnetic reversing valve 3a are connected, so that the return oil of the winch brake 1 flows directly into the oil tank 6 through the hydraulically controlled reversing valve 2, and then the hydraulically controlled reversing valve 2 is controlled according to the conventional control process.

[0046] When the load is overweight, in order to avoid the problem of heavy-load hook slipping, the controller 9 controls the first electromagnetic reversing valve 3a to switch from the third working position to the fourth working position, so that the input end and the second output end of the first electromagnetic reversing valve 3a are connected, so that the return oil of the hoisting brake 1 needs to flow to the overflow valve 3b through the hydraulic control reversing valve 2 first, and the overflow valve 3b can be opened after overcoming the spring back pressure of the overflow valve 3b, and the return oil can be further output to the oil tank 6. Because the return oil end of the hydraulic control reversing valve 2 is also connected to the spring end of the hydraulic control reversing valve 2, through this solution, the back pressure of the overflow valve 3b can act on the spring end of the hydraulic control reversing valve 2, so as to apply a compensating force on the spring end of the hydraulic control reversing valve 2, increase the resistance of the hydraulic pilot end of the hydraulic control reversing valve 2, and make the shuttle valve 7 output more oil to promote the change of the working position of the hydraulic control reversing valve 2, and prolong the time for the hydraulic control reversing valve 2 to switch from the state of the second working position to the state of the first working position.

[0047] In some optional embodiments, Figure 5 As shown, the winch brake control system provided by the present invention also includes a solenoid valve 10, which is arranged between the lifting control device 12 and the hydraulic pilot end of the hydraulic control reversing valve 2. Figure 5 For example, the solenoid valve 10 is arranged between the output end of the shuttle valve 7 and the hydraulic pilot end of the hydraulic control reversing valve 2. The solenoid valve 10 is connected to the controller 9 for communication, and the controller 9 is connected to the tension sensor 4 for communication. The tension sensor 4 is used to detect the force of the weight acting on the wire rope.

[0048] Specifically, the embodiment of the present invention also provides another method for delaying the start of the hydraulically controlled reversing valve 2, by setting a solenoid valve 10 between the lifting control device 12 and the hydraulically controlled pilot end of the hydraulically controlled reversing valve 2, and then connecting the solenoid valve 10 to the controller 9 for communication, so that the solenoid valve 10 acts as a switch. If the tension sensor 4 detects that the current load is a lighter load, the controller 9 can wait for a shorter time (first preset time) before opening the solenoid valve 10. If the tension sensor 4 detects that the current load is a heavier load, the controller 9 can wait for a longer time (the second preset time) before opening the solenoid valve 10, thereby connecting the lifting control device 12 to the hydraulic pilot end of the hydraulically controlled reversing valve 2. If a longer waiting time has not passed, the solenoid valve 10 will not be opened, and the oil output by the lifting control device 12 (the output of the shuttle valve 7 is taken as an example in this embodiment) cannot enter the hydraulic pilot end of the hydraulically controlled reversing valve 2, thereby failing to control the hydraulically controlled reversing valve 2. The second preset time is greater than the first preset time, and the effect of delayed start of the hydraulically controlled reversing valve 2 is also achieved, ensuring that when the hydraulically controlled reversing valve 2 is opened, the lifting system has been adjusted, and even if the winch brake 1 is released, the lifting system can stably hold the load, thereby avoiding the problem of heavy-load hook slipping caused by directly releasing the winch brake 1.

[0049] In some optional embodiments, Figure 6 As shown, the solenoid valve 10 is the second solenoid reversing valve 11, the output end of the second solenoid reversing valve 11 is connected to the hydraulic pilot end pipeline of the hydraulic control reversing valve 2, the first input end of the second solenoid reversing valve 11 is connected to the return oil branch, the second input end of the second solenoid reversing valve 11 is connected to the lifting control device 12 pipeline, the spring end of the hydraulic control reversing valve 2 is connected to the return oil branch, the control end of the second solenoid reversing valve 11 is communicatively connected to the controller 9, and the second solenoid reversing valve 11 includes a fifth working position and a sixth working position, the fifth working position is used to conduct the first input end and the output end of the second solenoid reversing valve 11, and the sixth working position is used to conduct the second input end and the output end of the second solenoid reversing valve 11.

[0050] Specifically, the present invention adopts the second electromagnetic reversing valve 11 as the electromagnetic valve 10 , which plays a role of a switch between the lifting control device 12 and the hydraulically controlled pilot end of the hydraulically controlled reversing valve 2 . Figure 6 Taking the lifting control device 12 composed of the shuttle valve 7 and the hydraulic control handle 8 as an example, when the output end of the shuttle valve 7 is not required to be connected to the hydraulic control pilot end of the hydraulic control reversing valve 2, the second electromagnetic reversing valve 11 is controlled to be in the fifth working position, and when the output end of the shuttle valve 7 is required to be connected to the hydraulic control pilot end of the hydraulic control reversing valve 2, the second electromagnetic reversing valve 11 is switched to the sixth working position. Based on this, if the tension sensor 4 detects that the current load is a heavier load, the controller 9 can wait for a long time to switch the second electromagnetic reversing valve 11 from the fifth working position to the sixth working position, so that the output end of the shuttle valve 7 is connected to the hydraulic control pilot end of the hydraulic control reversing valve 2. If a long waiting time has not passed, the fifth working position remains unchanged, and the oil output by the shuttle valve 7 cannot enter the hydraulic control pilot end of the hydraulic control reversing valve 2, so that the hydraulic control reversing valve 2 cannot be controlled, and the effect of delayed start of the hydraulic control reversing valve 2 is also achieved.

[0051] It should be noted that, in the present embodiment, the first input end of the second electromagnetic reversing valve 11 is connected to the oil return branch, and the spring end of the hydraulically controlled reversing valve 2 is also connected to the oil return branch. The purpose is to keep the oil pressure at both ends of the hydraulically controlled reversing valve 2 balanced when the winch brake 1 returns oil to the oil tank 6, so that the hydraulically controlled reversing valve 2 can be stably in the current working position, thereby preventing the hydraulically controlled reversing valve 2 from shaking.

[0052] According to an embodiment of the present invention, an embodiment of a winch braking control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0053] In this embodiment, a winch braking control method is provided, which can be used in the above-mentioned controller. Figure 7 : is a flow chart of a winch braking control method according to an embodiment of the present invention, the flow chart includes the following steps:

[0054] Step S601, when the hydraulic control handle is operated, the tension value is detected by the tension sensor;

[0055] Step S602: When the tension value is greater than a preset force threshold, torque compensation is performed on the spring end of the hydraulically controlled reversing valve through a torque compensation unit.

[0056] The control principles of the above steps have been described in the aforementioned system embodiment, and you can refer to the aforementioned system embodiment, so they will not be repeated here.

[0057] In some optional implementations, step S602 includes:

[0058] Step a1, controlling the motor to rotate to push the rack toward the spring end of the hydraulic control reversing valve, so that the rack applies thrust to the spring end of the hydraulic control reversing valve.

[0059] In some optional implementations, step S602 includes:

[0060] Step b1, controlling the first electromagnetic reversing valve to switch from the third working position to the fourth working position.

[0061] In some optional implementations, the winch braking control method provided by the present invention further includes:

[0062] Step c1, when the tension value is less than or equal to a preset force threshold, the solenoid valve is opened after a first preset time, so that the output end of the lifting control device is connected to the hydraulic pilot end of the hydraulic control reversing valve;

[0063] Step c2, when the tension value is greater than the preset force threshold, the solenoid valve is opened after a second preset time to connect the output end of the lifting control device with the hydraulic pilot end of the hydraulically controlled reversing valve, and the second preset time is greater than the first preset time.

[0064] In some optional implementations, step c1 includes:

[0065] Step c11, when the tension value is less than or equal to the preset force threshold, the second electromagnetic reversing valve is switched from the fifth working position to the sixth working position after a first preset time.

[0066] In some optional implementations, step c2 includes:

[0067] Step c21, when the tension value is greater than the preset force threshold, the second electromagnetic reversing valve is switched from the fifth working position to the sixth working position after a second preset time.

[0068] The control principles of the above steps have been described in the aforementioned system embodiment, and you can refer to the aforementioned system embodiment, so they will not be repeated here.

[0069] The embodiment of the present invention further provides a crane, comprising a vehicle body, a hook, a winch, and a winch brake control system provided by the aforementioned system embodiment. The winch is arranged on the vehicle body, the wire rope of the winch is connected to the hook, the hook is hung on the far end of the lifting arm of the vehicle body through the wire rope, the winch brake control system is arranged in the vehicle body, and the hydraulic motor in the winch brake control system is connected to the drive shaft of the winch.

[0070] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0071] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0072] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A winch braking control system, characterized in that: include: A hydraulic motor, a winch brake, a hydraulically controlled reversing valve, an oil tank, an oil pump, a lifting control device, a controller, a tension sensor and a torque compensation unit; the hydraulic motor is used to drive the winch; the piston rod of the winch brake can abut against the output shaft of the hydraulic motor to control the rotation of the hydraulic motor; the winch brake is connected to the hydraulically controlled reversing valve pipeline; the hydraulically controlled reversing valve is connected to the oil pump through an oil supply branch pipeline, the hydraulically controlled reversing valve is connected to the oil tank pipeline through an oil return branch, and the oil pump is also connected to the oil tank through a pipeline; the hydraulically controlled reversing valve is used to control the on-off of the oil supply path and the oil return path; the hydraulically controlled pilot end of the hydraulically controlled reversing valve is connected to the lifting control device; the torque compensation unit is connected to the spring end of the hydraulically controlled reversing valve, the torque compensation unit is communicatively connected to the controller, the controller is communicatively connected to the tension sensor, and the tension sensor is used to detect the tension of the weight acting on the wire rope.

2. The winch braking control system according to claim 1, characterized in that: The torque compensation unit includes a motor and a rack. The motor is communicatively connected to the controller. The rack is connected to the rotating shaft of the motor through a gear. One end of the rack faces the spring end of the hydraulically controlled reversing valve. The motor is used to control the rack to move toward the spring end of the hydraulically controlled reversing valve by rotation. One end of the rack is used to provide compensation force by resisting the spring end of the hydraulically controlled reversing valve.

3. The winch brake control system according to claim 1, characterized in that: The torque compensation unit is arranged in the oil return branch; wherein the torque compensation unit includes a first electromagnetic reversing valve and a relief valve, the control end of the first electromagnetic reversing valve is communicatively connected to the controller, the input end of the first electromagnetic reversing valve is connected to the return oil end pipeline of the hydraulically controlled reversing valve, the first output end of the first electromagnetic reversing valve is connected to the oil tank pipeline, the second output end of the first electromagnetic reversing valve is connected to the input end pipeline of the relief valve, the output end of the relief valve is connected to the oil tank pipeline, and the return oil end of the hydraulically controlled reversing valve is also connected to the spring end pipeline of the hydraulically controlled reversing valve; the first electromagnetic reversing valve includes a third working position and a fourth working position, the third working position is used to connect the input end and the first output end of the first electromagnetic reversing valve, and the fourth working position is used to connect the input end and the second output end of the first electromagnetic reversing valve.

4. The winch braking control system according to claim 1, characterized in that: It also includes a solenoid valve, which is arranged between the lifting control device and the hydraulically controlled pilot end of the hydraulically controlled reversing valve. The solenoid valve is communicatively connected to the controller, and the controller is communicatively connected to the tension sensor.

5. The winch braking control system according to claim 4, characterized in that: The solenoid valve is a second solenoid reversing valve, the output end of the second solenoid reversing valve is connected to the hydraulically controlled pilot end pipeline of the hydraulically controlled reversing valve, the first input end of the second solenoid reversing valve is connected to the oil return branch, the second input end of the second solenoid reversing valve is connected to the output end pipeline of the lifting control device, the spring end of the hydraulically controlled reversing valve is connected to the oil return branch, the control end of the second solenoid reversing valve is communicatively connected to the controller, and the second solenoid reversing valve includes a fifth working position and a sixth working position, the fifth working position is used to conduct the first input end and the output end of the second solenoid reversing valve, and the sixth working position is used to conduct the second input end and the output end of the second solenoid reversing valve.

6. A winch braking control method, characterized in that: For controllers, including: When the hydraulic control handle is operated, the tension value is detected by the tension sensor; When the tension value is greater than a preset force threshold, torque compensation is performed on the spring end of the hydraulically controlled reversing valve through the torque compensation unit.

7. The method according to claim 6, characterized in that The torque compensation unit is used to compensate the spring end of the hydraulically controlled reversing valve, including: The first electromagnetic reversing valve is controlled to switch from the third working position to the fourth working position.

8. The method according to claim 6, characterized in that Also includes: When the tension value is less than or equal to the preset force threshold, the solenoid valve is opened after a first preset time, so that the output end of the lifting control device is connected to the hydraulic pilot end of the hydraulic control reversing valve; When the tension value is greater than the preset force threshold, the solenoid valve is opened after a second preset time to connect the output end of the lifting control device with the hydraulic pilot end of the hydraulically controlled reversing valve, and the second preset time is greater than the first preset time.

9. The method according to claim 8, characterized in that When the tension value is less than or equal to the preset force threshold, opening the solenoid valve after a first preset time includes: When the tension value is less than or equal to the preset force threshold, the second electromagnetic reversing valve is switched from the fifth working position to the sixth working position after a first preset time.

10. The method according to claim 8, characterized in that When the tension value is greater than the preset force threshold, opening the solenoid valve after a second preset time includes: When the tension value is greater than the preset force threshold, the second electromagnetic reversing valve is switched from the fifth working position to the sixth working position after a second preset time.

11. A crane, characterized in that: It comprises a vehicle body, a hook, a winch and a winch brake control system provided by any one of claims 1 to 5, wherein the winch is arranged on the vehicle body, a steel wire rope of the winch is connected to the hook, the hook is hung on the far end of the lifting arm of the vehicle body through the steel wire rope, the winch brake control system is arranged in the vehicle body, and a hydraulic motor in the winch brake control system is connected to the drive shaft of the winch.

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