A double-hoist control system, method and working machine for a diaphragm wall grab

Abstract

The application relates to the technical field of engineering machinery, and discloses a double-winch control system and method of a diaphragm wall grab bucket and engineering machinery. The system comprises a master handle, a main winch system, an auxiliary winch system, a controller, a main brake system and an auxiliary brake system. The master handle generates and transmits a control instruction signal to the main winch system and the auxiliary winch system to instruct the main winch system and the auxiliary winch system to perform a lifting control operation on the grab bucket. When the grab bucket is lifted, the controller generates and transmits a speed compensation signal to the main winch system and the auxiliary winch system according to a torque change value and a PID calculation formula to optimize the control operation of the grab bucket. When any brake system detects that a target voltage meets a voltage protection condition during the lifting of the grab bucket, an electric energy consumption operation is performed. It can be seen that the application can improve the double-winch control accuracy of the diaphragm wall grab bucket and improve the consumption control accuracy of the recovered energy during operation.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to a dual winch control system, method and engineering machinery for a continuous wall grab bucket. Background Technology

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

[0003] The existing dual-winch electric system architecture for continuous wall grab buckets can include: a main (auxiliary) winch motor controller, a main (auxiliary) winch motor, a reducer, a main (auxiliary) winch brake, a main (auxiliary) drum, a main (auxiliary) wire rope, and a hydraulic grab bucket. The architecture of this existing dual-winch electric system can be as follows: Figure 1 As shown. Based on the above dual-winch electric system, the hydraulic grab can be controlled in the following way: after outputting a speed command by controlling the opening of the master control handle, the speed command is transmitted to the main (auxiliary) winch motor controller, and then the lifting and lowering of the hydraulic grab is controlled by the main (auxiliary) winch motor, reducer, main (auxiliary) winch brake, main (auxiliary) drum and main (auxiliary) wire rope; and, during the lowering process of the grab, gravitational potential energy is converted into electrical energy and the converted electrical energy is recovered, thereby improving the energy utilization rate of the construction machinery.

[0004] However, in practice, it has been found that since the above control method controls the main (auxiliary) wire ropes separately through the main (auxiliary) winch motors, if the speeds of the main (auxiliary) winch motors are inconsistent, it will cause a length difference between the main (auxiliary) wire ropes and uneven stress, which will increase the risk of wire rope breakage, deformation or even breakage. This can easily lead to sudden breakage of the wire rope or loss of control of the grab bucket, creating construction safety hazards. When the battery system used to recover the above-mentioned electrical energy overflows or malfunctions and cannot store electrical energy, the electrical energy generated by the lowering of the grab bucket cannot be consumed, which may cause damage to other components due to excessive voltage.

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

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

[0007] To address the aforementioned technical problems, the first aspect of this invention discloses a dual-winch control system for a continuous wall grab bucket. The dual-winch control system includes a master control handle, a main winch system, a secondary winch system, a controller, a main braking system corresponding to the main winch system, and a secondary braking system corresponding to the secondary winch system, wherein:

[0008] The master control handle is electrically connected to the first end of the main winch system and the first end of the auxiliary winch system, respectively. The second end of the main winch system is electrically connected to the main braking system, and the second end of the auxiliary winch system is electrically connected to the auxiliary braking system. The third ends of the main winch system and the third ends of the auxiliary winch system are respectively used to connect to the hydraulic grab bucket.

[0009] The master control handle is used to generate control command signals and transmit the control command signals to the main hoisting system and the auxiliary hoisting system respectively; the control command signals are used to instruct the main hoisting system and the auxiliary hoisting system to perform lifting control operations on the hydraulic grab; the control command signals include at least a speed command signal;

[0010] The controller is configured to generate a speed compensation signal based on a pre-set PID calculation formula, according to the received torque change value, during the lifting and lowering process of the hydraulic grab bucket, and transmit the speed compensation signal to the main hoisting system and the auxiliary hoisting system to optimize the control operation of the main hoisting system and the auxiliary hoisting system for the hydraulic grab bucket; the torque change value includes a first torque change value fed back by the main hoisting system and / or a second torque change value fed back by the auxiliary hoisting system; the speed compensation signal includes a first compensation signal and / or a second compensation signal;

[0011] Any braking system is used to perform an energy consumption operation when the target voltage to be monitored meets the preset voltage protection conditions during the lifting and lowering process of the hydraulic grab bucket; wherein any of the braking systems is the main braking system or the auxiliary braking system.

[0012] As an optional implementation, in a first aspect of the invention, the main hoisting system includes a main hoisting motor controller, a main hoisting motor, a first reducer, a main hoisting brake, a main drum, and a main wire rope, wherein:

[0013] The first end of the main winch motor controller is electrically connected to the master control handle, the second end of the main winch motor controller is electrically connected to the main winch motor, and the third end of the main winch motor controller is electrically connected to the main braking system. The main winch motor, the first reducer, the main winch brake, and the main drum are connected in sequence. The main drum is wound with the main wire rope, which is used to connect the hydraulic grab bucket.

[0014] The main winch motor controller is used to receive control command signals transmitted by the master control handle, and control the main winch motor, the first reducer, the main winch brake, the main drum and the main wire rope according to the control command signals to perform the first lifting control operation for the hydraulic grab bucket;

[0015] The main winch motor is used to convert the first load change information fed back by the hydraulic grab into a first torque change value during the lifting and lowering process of the hydraulic grab, and transmit the first torque change value to the controller.

[0016] The main hoist motor controller is also configured to receive the first compensation signal transmitted by the controller, and optimize the first lifting control operation for the hydraulic grab bucket based on the first compensation signal.

[0017] As an optional implementation, in a first aspect of the invention, the auxiliary winch system includes an auxiliary winch motor controller, an auxiliary winch motor, a second reducer, an auxiliary winch brake, an auxiliary drum, and an auxiliary wire rope, wherein:

[0018] The first end of the auxiliary winch motor controller is electrically connected to the master control handle, the second end of the auxiliary winch motor controller is electrically connected to the auxiliary winch motor, and the third end of the auxiliary winch motor controller is electrically connected to the auxiliary braking system. The auxiliary winch motor, the second reducer, the auxiliary winch brake, and the auxiliary drum are connected in sequence, and the auxiliary drum is wound with the auxiliary wire rope, which is used to connect the hydraulic grab bucket.

[0019] The auxiliary winch motor controller is used to receive control command signals transmitted by the master control handle, and control the auxiliary winch motor, the second reducer, the auxiliary winch brake, the auxiliary drum and the auxiliary wire rope according to the control command signals to perform a second lifting control operation for the hydraulic grab bucket;

[0020] The auxiliary winch motor is used to convert the second load change information fed back by the hydraulic grab into a second torque change value during the lifting and lowering process of the hydraulic grab, and to transmit the second torque change value to the controller;

[0021] The auxiliary winch motor controller is also used to receive the second compensation signal transmitted by the controller, and optimize the second lifting control operation for the hydraulic grab bucket based on the second compensation signal.

[0022] As an optional implementation, in a first aspect of the present invention, the main braking system includes a main braking unit and a main braking resistor, and the auxiliary braking system includes an auxiliary braking unit and an auxiliary braking resistor; wherein: a first terminal of the main braking unit is electrically connected to a third terminal of the main hoist motor controller; and a first terminal of the auxiliary braking unit is electrically connected to a third terminal of the auxiliary hoist motor controller.

[0023] Wherein, during the lifting and lowering process of the hydraulic grab, when the target voltage to be monitored is detected to meet the preset voltage protection conditions, the specific manner in which any of the braking systems performs the power consumption operation includes:

[0024] During the lifting and lowering process of the hydraulic grab bucket, when the braking unit in the braking system detects that the target voltage at the DC bus terminal of the winch motor controller corresponding to the braking system is greater than or equal to the braking voltage threshold corresponding to the braking unit, the braking resistor in the braking system is electrically connected to the braking unit so that the braking resistor is connected to the high voltage circuit of the whole machine, thereby consuming electrical energy by heating the braking resistor.

[0025] As an optional implementation, in the first aspect of the invention, the dual-winch control system of the continuous wall grab further includes an energy recovery system, wherein:

[0026] The first end of the energy recovery system is electrically connected to the fourth end of the main winch motor controller and the fourth end of the auxiliary winch motor controller, respectively.

[0027] The energy recovery system is used to recover the first electrical energy generated by the main winch motor and the auxiliary winch motor during rotation through the main winch motor controller and the auxiliary winch motor controller during the descent of the hydraulic grab bucket; and to supply power to the electrical components.

[0028] As an optional implementation, in the first aspect of the present invention, the energy recovery system includes a junction box and a battery system, wherein:

[0029] The first end of the junction box is electrically connected to the fourth end of the main winch motor controller and the fourth end of the auxiliary winch motor controller; the first end of the battery system is electrically connected to the second end of the junction box.

[0030] The junction box is used to transmit the first electrical energy to the battery system during the descent of the hydraulic grab bucket, so as to store the first electrical energy in the battery system.

[0031] As an optional implementation, in the first aspect of the invention, the energy recovery system further includes a charging system, wherein:

[0032] The first end of the charging system is electrically connected to the third end of the junction box of the whole machine;

[0033] The charging system is used to provide a second electrical energy to the junction box of the whole machine;

[0034] The junction box is used to supply power to the electrical components based on the first electrical energy and / or the second electrical energy.

[0035] As an optional implementation, in the first aspect of the invention, the energy recovery system further includes a voltage conversion module, wherein:

[0036] The first terminal of the voltage conversion module is electrically connected to the fourth terminal of the junction box of the whole machine;

[0037] The voltage conversion module is used to convert the power supply voltage of the junction box of the whole machine into a preset voltage to supply power to low-voltage electrical components.

[0038] The second aspect of this invention discloses a dual-winch control method for a continuous wall grab bucket. The method is applied to a dual-winch control system for a continuous wall grab bucket. The dual-winch control system includes a master control handle, a main winch system, a secondary winch system, a controller, a main braking system corresponding to the main winch system, and a secondary braking system corresponding to the secondary winch system. The master control handle is electrically connected to a first end of the main winch system and a first end of the secondary winch system, respectively. A second end of the main winch system is electrically connected to the main braking system, and a second end of the secondary winch system is electrically connected to the secondary braking system. The third ends of the main winch system and the secondary winch system are respectively used to connect to the hydraulic grab bucket.

[0039] And, the method includes:

[0040] The master control handle generates control command signals and transmits the control command signals to the main hoisting system and the auxiliary hoisting system respectively; the control command signals are used to instruct the main hoisting system and the auxiliary hoisting system to perform lifting control operations on the hydraulic grab; the control command signals include at least a speed command signal;

[0041] During the lifting and lowering process of the hydraulic grab, the controller generates a speed compensation signal based on a pre-set PID calculation formula according to the received torque change value, and transmits the speed compensation signal to the main hoisting system and the auxiliary hoisting system to optimize the control operation of the main hoisting system and the auxiliary hoisting system for the hydraulic grab; the torque change value includes a first torque change value fed back by the main hoisting system and / or a second torque change value fed back by the auxiliary hoisting system; the speed compensation signal includes a first compensation signal and / or a second compensation signal;

[0042] During the lifting and lowering process of the hydraulic grab, any braking system performs an energy consumption operation when it detects that the target voltage to be monitored meets the preset voltage protection conditions; wherein, any of the braking systems is the main braking system or the auxiliary braking system.

[0043] The third aspect of the present invention discloses an engineering machinery, which includes a mechanical equipment body and a dual winch control system for a continuous wall grab bucket as disclosed in the first aspect.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] By providing a dual-winch control system for a continuous wall grab bucket, including a master control handle, a main winch system, an auxiliary winch system, a controller, a main braking system, and an auxiliary braking system, the system can generate and transmit control command signals to the main and auxiliary winch systems via the master control handle to instruct them to perform lifting and lowering control operations for the grab bucket. During grab bucket lifting and lowering, the controller generates and transmits speed compensation signals to the main and auxiliary winch systems based on torque changes and PID calculation formulas to optimize grab bucket control operations. This allows for optimized adjustment of the main (auxiliary) winch systems' response to grab bucket control commands according to actual lifting and lowering conditions, thereby improving the synchronization of the dual-winch system's execution of grab bucket lifting and lowering control operations. This effectively adjusts the force conditions within the dual-winch system, reduces wear on the dual-winch system, and ultimately improves performance. The system improves the safety and accuracy of grab bucket lifting; and, during grab bucket lifting, if any braking system detects that the target voltage to be monitored meets the voltage protection conditions, it performs an energy consumption operation to consume the excess energy recovered in the circuit. This allows for efficient consumption of excess energy generated during energy recovery by adding main (auxiliary) braking systems, reducing the possibility of high-voltage breakdown of components in the circuit, thus protecting the components and improving the safety and reliability of the dual-winch system. Therefore, the system provided in this embodiment can improve the accuracy of dual-winch control in continuous wall grab machinery while improving the accuracy of energy consumption control during operation, thereby improving the operating efficiency, safety, and reliability of continuous wall grab machinery, and ultimately contributing to improved construction safety and efficiency. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1This is a schematic diagram of the architecture of a dual-winch electric system for a continuous wall grab bucket, as disclosed in existing technology.

[0048] Figure 2 This is a schematic diagram of the structure of a dual winch control system for a continuous wall grab bucket disclosed in an embodiment of the present invention;

[0049] Figure 3 This is a schematic diagram of the structure of another dual-winch control system for a continuous wall grab bucket disclosed in an embodiment of the present invention;

[0050] Figure 4 This is a schematic diagram of the structure of a dual winch control system for a continuous wall grab bucket disclosed in an embodiment of the present invention;

[0051] Figure 5 This is a schematic diagram of the structure of a dual winch control system for a continuous wall grab bucket disclosed in an embodiment of the present invention;

[0052] Figure 6 This is a schematic diagram of the structure of a dual winch control system for a continuous wall grab bucket disclosed in an embodiment of the present invention;

[0053] Figure 7 This is a flowchart illustrating a dual-winch control method for a continuous wall grab bucket disclosed in an embodiment of the present invention.

[0054] Figure 8 This is a structural schematic diagram of an engineering machine disclosed in an embodiment of the present invention. Detailed Implementation

[0055] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and 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.

[0056] It should be noted that, unless otherwise explicitly specified and limited, the term "electrical connection" in the specification, claims, and accompanying drawings of this invention should be interpreted broadly. For example, it can be a fixed electrical connection, a detachable electrical connection, or an integral electrical connection; it can be a mechanical electrical connection, an electrical-electrical connection, or a connection capable of communication; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two elements or an interaction between two elements. Furthermore, the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Additionally, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0057] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0058] Example 1

[0059] Please see Figure 2 , Figure 2 This is a schematic diagram of the dual-winch control system for a continuous wall grab bucket according to an embodiment of the present invention. This system can be applied to construction machinery equipped with a hydraulic grab bucket; however, this embodiment of the invention does not limit its application. Figure 2 As shown, the dual-winch control system of the continuous wall grab bucket may include a master control handle 10, a main winch system 20, an auxiliary winch system 30, a controller 40, a main braking system 50 corresponding to the main winch system, and an auxiliary braking system 60 corresponding to the auxiliary winch system, wherein:

[0060] The master control handle 10 is electrically connected to the first end of the main winch system 20 and the first end of the auxiliary winch system 30, respectively. The second end of the main winch system 20 is electrically connected to the main braking system 50, and the second end of the auxiliary winch system 30 is electrically connected to the auxiliary braking system 60. The third ends of the main winch system 20 and the auxiliary winch system 30 are respectively used to connect to the hydraulic grab bucket.

[0061] The master control handle 10 is used to generate control command signals and transmit control command signals to the main hoisting system 20 and the auxiliary hoisting system 30 respectively; the control command signals are used to instruct the main hoisting system 20 and the auxiliary hoisting system 30 to perform lifting control operations for the hydraulic grab; the control command signals include at least a speed command signal;

[0062] The controller 40 is used to generate a speed compensation signal based on a pre-set PID calculation formula according to the received torque change value during the lifting and lowering process of the hydraulic grab bucket, and transmit the speed compensation signal to the main hoisting system 20 and the auxiliary hoisting system 30 to optimize the control operation of the main hoisting system 20 and the auxiliary hoisting system 30 for the hydraulic grab bucket; the torque change value includes a first torque change value fed back by the main hoisting system 20 and / or a second torque change value fed back by the auxiliary hoisting system 30; the speed compensation signal includes a first compensation signal and / or a second compensation signal.

[0063] Any braking system is used to perform an energy consumption operation when the target voltage to be monitored meets the preset voltage protection conditions during the lifting and lowering of the hydraulic grab bucket; wherein, any braking system is a main braking system 50 or a secondary braking system 60.

[0064] Optionally, the speed command signal generated by the master control handle 10 can be generated by controlling the opening degree of the master control handle 10, which is not limited in this embodiment of the invention.

[0065] Optionally, the above PID calculation formula can be as follows:

[0066]

[0067] in, This is the speed compensation value (control output); This represents the torque change value (current error: the difference between the set value and the actual value). This is the proportionality coefficient; The integral coefficient; These are the differential coefficients; This is the integral term for the error; This is the error rate of change term.

[0068] As can be seen, the embodiments of the present invention provide a dual-winch control system for a continuous wall grab bucket, including a master control handle, a main winch system, an auxiliary winch system, a controller, a main braking system, and an auxiliary braking system. This system can generate and transmit control command signals to the main and auxiliary winch systems via the master control handle, instructing them to perform lifting and lowering control operations on the grab bucket. During grab bucket lifting and lowering, the controller generates and transmits speed compensation signals to the main and auxiliary winch systems based on torque change values ​​and PID calculation formulas to optimize grab bucket control operations. This allows for optimized adjustment of the main (auxiliary) winch system's response to grab bucket control commands according to actual lifting and lowering conditions, thereby improving the synchronization of the dual-winch system's execution of grab bucket lifting and lowering control operations, effectively adjusting the force conditions within the dual-winch system, and reducing wear on the dual-winch system. This system improves the safety and accuracy of grab bucket lifting and lowering. Furthermore, during grab bucket lifting and lowering, if any braking system detects that the target voltage meets the voltage protection conditions, it performs an energy consumption operation to consume excess energy recovered in the circuit. This allows for efficient consumption of excess energy generated during energy recovery by adding main (auxiliary) braking systems, reducing the possibility of high-voltage breakdown of components in the circuit, thus protecting the components and improving the safety and reliability of the dual-winch system. Therefore, implementing the system provided in this embodiment improves the accuracy of dual-winch control in continuous wall grab machinery while simultaneously improving the accuracy of energy consumption control during operation, thereby improving the operating efficiency, safety, and reliability of the continuous wall grab machinery, ultimately contributing to improved construction safety and efficiency.

[0069] In an optional embodiment, please refer to Figure 3 , Figure 3 This is a schematic diagram of the structure of a dual-winch control system for a continuous wall grab bucket disclosed in an embodiment of the present invention, as shown below. Figure 3 As shown, the main hoisting system 20 may include a main hoisting motor controller 201, a main hoisting motor 202, a first reducer 203, a main hoisting brake 204, a main drum 205, and a main wire rope 206, wherein:

[0070] The first end of the main winch motor controller 201 is electrically connected to the master control handle 10, the second end of the main winch motor controller 201 is electrically connected to the main winch motor 202, and the third end of the main winch motor controller 201 is electrically connected to the main braking system 50. The main winch motor 202, the first reducer 203, the main winch brake 204 and the main drum 205 are connected in sequence. The main drum 205 is wound with the main wire rope 206, which is used to connect the hydraulic grab bucket.

[0071] The main hoist motor controller 201 is used to receive the control command signal transmitted by the master control handle 10, and control the main hoist motor 202, the first reducer 203, the main hoist brake 204, the main drum 205 and the main wire rope 206 according to the control command signal to perform the first lifting control operation for the hydraulic grab bucket.

[0072] The main hoist motor 202 is used to convert the first load change information fed back by the hydraulic grab into a first torque change value during the lifting and lowering process of the hydraulic grab, and transmit the first torque change value to the controller 40.

[0073] The main hoist motor controller 201 is also used to receive the first compensation signal transmitted by the controller 40, and optimize the first lifting control operation for the hydraulic grab bucket based on the first compensation signal.

[0074] The main winch motor controller 201 can control the speed of the main winch motor 202 according to the control command signal, thereby adjusting the force on the main wire rope 206.

[0075] The hydraulic grab bucket provides load feedback to the main winch motor 202 via the main wire rope 206, the main drum 205, and the first reducer 203, serving as the first load change information.

[0076] As can be seen, this optional embodiment, by setting a main winch motor controller, a main winch motor, a first reducer, a main winch brake, a main drum, and a main wire rope in the main winch system, and by receiving control command signals through the main winch motor controller and controlling the main winch motor, the first reducer, the main winch brake, the main drum, and the main wire rope according to the control command signals, controls the lifting and lowering of the hydraulic grab bucket. Furthermore, the main winch motor converts the first load change information fed back by the hydraulic grab bucket into a first torque change value, and transmits the first torque change value to the controller. After the controller feeds back the corresponding first compensation signal to the main winch motor controller, the corresponding lifting and lowering control of the hydraulic grab bucket can be optimized. This further improves the reliability and accuracy of the main winch system's control over the hydraulic grab bucket, thereby further improving the synchronization of the dual winch system's control operations, and ultimately further improving the safety and accuracy of the grab bucket lifting and lowering.

[0077] In this optional embodiment, optionally, such as Figure 3 As shown, the auxiliary hoisting system 30 may include an auxiliary hoisting motor controller 301, an auxiliary hoisting motor 302, a second reducer 303, an auxiliary hoisting brake 304, an auxiliary drum 305, and an auxiliary wire rope 306, wherein:

[0078] The first end of the auxiliary winch motor controller 301 is electrically connected to the master control handle, the second end of the auxiliary winch motor controller 301 is electrically connected to the auxiliary winch motor 302, and the third end of the auxiliary winch motor controller 301 is electrically connected to the auxiliary braking system 60. The auxiliary winch motor 302, the second reducer 303, the auxiliary winch brake 304 and the auxiliary drum 305 are connected in sequence. The auxiliary drum 305 is wound with an auxiliary wire rope 306, which is used to connect the hydraulic grab bucket.

[0079] The auxiliary winch motor controller 301 is used to receive the control command signal transmitted by the master handle 10, and control the auxiliary winch motor 302, the second reducer 303, the auxiliary winch brake 304, the auxiliary drum 305 and the auxiliary wire rope 306 according to the control command signal to perform the second lifting control operation for the hydraulic grab bucket.

[0080] The auxiliary winch motor 302 is used to convert the second load change information fed back by the hydraulic grab into a second torque change value during the lifting and lowering process of the hydraulic grab, and transmit the second torque change value to the controller 40.

[0081] The auxiliary hoist motor controller 301 is also used to receive the second compensation signal transmitted by the controller 40, and optimize the second lifting control operation for the hydraulic grab bucket based on the second compensation signal.

[0082] It should be noted that, Figure 3 The “main / auxiliary hoisting motor” mentioned above includes the main hoisting motor 202 and the auxiliary hoisting motor 302 mentioned above.

[0083] The auxiliary winch motor controller 301 can control the speed of the auxiliary winch motor 302 according to the control command signal, thereby adjusting the force on the auxiliary wire rope 306.

[0084] The hydraulic grab bucket provides load feedback to the auxiliary winch motor 302 via the auxiliary wire rope 306, the auxiliary drum 305, and the second reducer 303, serving as the second load change information.

[0085] As can be seen, this optional embodiment can control the lifting and lowering of the hydraulic grab bucket by setting an auxiliary winch motor controller, an auxiliary winch motor, a first reducer, an auxiliary winch brake, an auxiliary drum, and an auxiliary wire rope in the auxiliary winch system. The auxiliary winch motor controller receives control command signals and controls the auxiliary winch motor, the second reducer, the auxiliary winch brake, the auxiliary drum, and the auxiliary wire rope according to the control command signals. In addition, the auxiliary winch motor converts the second load change information fed back by the hydraulic grab bucket into a second torque change value and transmits the second torque change value to the controller. After the controller feeds back the corresponding second compensation signal to the auxiliary winch motor controller, the corresponding hydraulic grab bucket lifting and lowering control can be optimized. This can further improve the reliability and accuracy of the auxiliary winch system's control of the hydraulic grab bucket, thereby further improving the synchronization of the dual winch system's control operations, and further improving the safety and accuracy of grab bucket lifting and lowering.

[0086] In this optional embodiment, optionally, such as Figure 3 As shown, the main braking system 50 includes a main braking unit 501 and a main braking resistor 502, and the auxiliary braking system 60 includes an auxiliary braking unit 601 and an auxiliary braking resistor 602; wherein: the first end of the main braking unit 501 is electrically connected to the third end of the main hoist motor controller 201; the first end of the auxiliary braking unit 601 is electrically connected to the third end of the auxiliary hoist motor controller 301.

[0087] Among them, the specific methods by which any braking system performs energy consumption operations during the lifting and lowering of the hydraulic grab bucket when it detects that the target voltage to be monitored meets the preset voltage protection conditions include:

[0088] During the lifting and lowering process of the hydraulic grab bucket, when the braking unit in the braking system detects that the target voltage at the DC bus terminal of the winch motor controller corresponding to the braking system is greater than or equal to the braking voltage threshold corresponding to the braking unit, the braking resistor in the braking system is electrically connected to the braking unit so that the braking resistor is connected to the high voltage circuit of the whole machine, thereby consuming electrical energy by heating the braking resistor.

[0089] Specifically, during the lifting and lowering process of the hydraulic grab bucket, when the main braking unit 501 detects that the voltage at the DC bus terminal of the main winch motor controller 201 (which can be used as the first target voltage) is greater than or equal to the braking voltage threshold corresponding to the main braking unit 501, the main braking resistor 502 is electrically connected to the second terminal of the main braking unit 501 so that the main braking resistor 502 is connected to the high-voltage circuit of the whole machine, thereby consuming electrical energy by heating the main braking resistor 502.

[0090] When the auxiliary braking unit 601 detects that the voltage at the DC bus terminal of the auxiliary hoist motor controller 301 (which can be used as the second target voltage) is greater than or equal to the braking voltage threshold corresponding to the auxiliary braking unit 601, the auxiliary braking resistor 602 is electrically connected to the second terminal of the auxiliary braking unit 601 so that the auxiliary braking resistor 602 is connected to the high voltage circuit of the whole machine, thereby consuming electrical energy by heating the auxiliary braking resistor 602.

[0091] For example, the braking voltage threshold can be 700V or other voltage values, and the embodiments of the present invention are not limited thereto.

[0092] During the descent of the hydraulic grab, the grab can be lowered by its own weight, which drives the main winch motor 202 and the auxiliary winch motor 302 to rotate. At this time, the main winch motor 202 and the auxiliary winch motor 302 can act as generators to convert the gravitational potential energy of the hydraulic grab into electrical energy during the descent, and use the converted electrical energy as the first electrical energy. If the first electrical energy is not consumed in time in the whole machine circuit (for example, the rate of generating the first electrical energy is higher than the rate of consuming the first electrical energy), the voltage at the DC bus terminal of the main (auxiliary) winch motor controller will increase.

[0093] After the power consumption operation is completed, the target voltage is reduced to below the braking voltage threshold, so that the voltage of the whole circuit is within the safe voltage range, thereby protecting the components in the circuit from damage due to excessive voltage.

[0094] It is evident that by setting main (auxiliary) braking units and main (auxiliary) braking resistors in the main (auxiliary) braking system, during the lifting and lowering of the hydraulic grab bucket, when the braking unit detects that the voltage at the DC bus terminal of the winch motor controller is greater than or equal to the braking voltage threshold corresponding to the braking unit, the braking resistor is electrically connected to the braking unit. This allows the braking resistor to intervene in the high-voltage circuit of the entire machine, thereby consuming electrical energy through the heating of the braking resistor. This improves the accuracy of the braking resistor's connection control, which in turn improves the efficiency and timeliness of consuming excess electrical energy generated during energy recovery. It also helps reduce the possibility of components in the circuit being damaged by high voltage, thus effectively protecting the remaining components in the circuit and improving the safety and reliability of the dual winch system.

[0095] In this optional embodiment, optionally, please refer to Figure 4 , Figure 4 This is a schematic diagram of the structure of a dual-winch control system for a continuous wall grab bucket disclosed in an embodiment of the present invention, as shown below. Figure 4 As shown, the dual-winch control system of the continuous wall grab bucket may also include an energy recovery system 70, wherein:

[0096] The first terminal of the energy recovery system 70 is electrically connected to the fourth terminal of the main winch motor controller 201 and the fourth terminal of the auxiliary winch motor controller 301, respectively.

[0097] The energy recovery system 70 is used to recover the first electrical energy generated by the main winch motor 202 and the auxiliary winch motor 302 during rotation via the main winch motor controller 201 and the auxiliary winch motor controller 301 during the descent of the hydraulic grab bucket; and to supply power to the electrical components.

[0098] Optionally, the electrical components may include high-voltage electrical components and / or low-voltage electrical components, but this embodiment of the invention does not limit the scope of the invention.

[0099] As can be seen, this optional embodiment can recover the electrical energy converted from the lowering of the hydraulic grab bucket under normal conditions by setting an energy recovery system in the system, and at the same time, it can supply power to other electrical components. This can improve the energy recovery efficiency of the dual winch system and the energy utilization rate of the continuous wall grab machinery.

[0100] In this optional embodiment, optionally, please refer to Figure 5 , Figure 5 This is a schematic diagram of the structure of a dual-winch control system for a continuous wall grab bucket disclosed in an embodiment of the present invention, as shown below. Figure 5 As shown, the energy recovery system 70 may include a junction box 701 and a battery system 702, wherein:

[0101] The first end of the junction box 701 is electrically connected to the fourth end of the main hoist motor controller 201 and the fourth end of the auxiliary hoist motor controller 301, respectively; the first end of the battery system 702 is electrically connected to the second end of the junction box 701.

[0102] The junction box 701 is used to transmit the first electrical energy to the battery system 702 during the descent of the hydraulic grab bucket, so as to store the first electrical energy in the battery system 702.

[0103] Among them, the junction box 701 is used to control the power distribution of the whole machine circuit.

[0104] Optionally, during the descent of the hydraulic grab, when the storage capacity of the battery system 702 has not overflowed, the battery system 702 has not been disconnected, and the battery system 702 has not malfunctioned, the first electrical energy is transferred to the battery system 702 to store the first electrical energy in the battery system 702.

[0105] It is evident that by incorporating a junction box and battery system into the energy recovery system, the generated electrical energy can be efficiently distributed during the lowering of the grab bucket and stored in the battery system. This improves the processing efficiency of the recovered electrical energy, thereby enhancing the storage efficiency and reliability of the recovered electrical energy. Consequently, it facilitates the redistribution of the recovered energy, further improving the energy utilization rate of the continuous wall grab bucket machinery.

[0106] In this optional embodiment, optionally, such as Figure 5 As shown, the energy recovery system 70 may further include a charging system 703, wherein:

[0107] The first terminal of the charging system 703 is electrically connected to the third terminal of the junction box 701 of the whole machine;

[0108] The charging system 703 is used to provide a second power to the junction box 701 of the whole machine;

[0109] The junction box 701 is used to supply power to electrical components based on a first electrical energy and / or a second electrical energy.

[0110] Optionally, the charging system 703 may provide a second power to the junction box 701 if the first power is not generated during the descent of the hydraulic grab bucket or if the first power generated is less than the power required by the whole machine circuit. This embodiment of the invention does not limit the scope of the invention.

[0111] It is evident that by setting up a charging system in the energy recovery system, a stable power supply can be provided to the main unit's junction box, enabling the junction box to stably distribute the required power to other electrical components, thereby improving the operational reliability of the continuous wall grab machinery.

[0112] In this optional embodiment, the energy recovery system 70 may further include a voltage conversion module 704, wherein:

[0113] The first terminal of the voltage conversion module 704 is electrically connected to the fourth terminal of the junction box 701 of the whole machine;

[0114] The voltage conversion module 704 is used to convert the power supply voltage of the junction box 701 of the whole machine into a preset voltage to supply power to low-voltage electrical components.

[0115] Among them, optional, such as Figure 5 As shown, the voltage conversion module 704 can be a DC-DC converter; further optionally, the supply voltage can be greater than the preset voltage to achieve the step-down function, which is not limited in this embodiment of the invention; wherein, for example, the preset voltage can be 24V, or it can be other voltage values, which is not limited in this embodiment of the invention.

[0116] For example, such as Figure 4As shown, low-voltage electrical components may include a 24V battery, and may also include an electronic fan and other 24V devices powered by a 24V battery. This embodiment of the invention does not limit the scope of the invention.

[0117] It is evident that by setting up a voltage conversion module in the energy recovery system to convert the voltage to a low voltage, it is possible to supply power to low-voltage electrical components in the circuit more flexibly, thereby improving the power supply flexibility and adaptability in the circuit, which is conducive to further improving the operational reliability of continuous wall grab machinery.

[0118] The working principle of the dual winch control system of the continuous wall grab bucket in this embodiment of the invention is as follows:

[0119] When the structure of the dual winch control system of the continuous wall grab bucket is as follows: Figure 5 As shown, the system first outputs a speed command based on the opening degree of the master control handle, then transmits the speed command to the main (auxiliary) winch motor controller. The lifting and lowering of the hydraulic grab is then controlled via the main (auxiliary) winch motor, reducer, main (auxiliary) winch brake, main (auxiliary) drum, and main (auxiliary) wire rope. During the lifting and lowering process, the hydraulic grab provides load feedback to the main (auxiliary) winch motor through the main (auxiliary) wire rope, main (auxiliary) drum, and reducer. Simultaneously, the main (auxiliary) winch motor feeds back the corresponding torque change value to the controller. After PID calculation, the controller outputs a speed compensation signal to the main (auxiliary) winch motor controller, enabling the controller to optimize the main (auxiliary) winch motor speed and thus adjust the force on the main (auxiliary) wire rope.

[0120] During the lowering process of the grab bucket, the weight of the hydraulic grab bucket itself drives the main and auxiliary winch motors to rotate. At this time, the main and auxiliary winch motors act as generators, converting the gravitational potential energy generated during the lowering process into electrical energy. During this process, the main (auxiliary) winch braking unit monitors the DC bus voltage of the main (auxiliary) winch motor controller: When the battery system, electrically connected to the main unit's junction box, is functioning normally, the electrical energy generated during the grab bucket's lowering can be transmitted to the battery system for storage through the junction box and supply power to other high-voltage components in the main unit's circuit. At this time, if the main (auxiliary) winch braking unit detects that the DC bus voltage of the main (auxiliary) winch motor controller is lower than the braking voltage threshold of the main (auxiliary) winch braking unit, the main (auxiliary) winch braking resistor will not engage. When the battery system's storage capacity overflows or malfunctions, for example, due to certain reasons (the battery system controller and the main unit control...), the main (auxiliary) winch braking unit will not engage. (Signal loss of communication signal, loose high-voltage plug, low insulation resistance, etc.) can cause the battery system to disconnect from the high-voltage circuit of the whole machine. At this time, the electrical energy recovered by the grab bucket during the lowering process cannot be stored in the battery system or completely consumed by other high-voltage components. That is, the rate of energy recovery is greater than the rate of energy consumption. As a result, the recovered electrical energy will continue to accumulate, and the DC bus voltage of the main (auxiliary) winch motor controller will rise. When the voltage exceeds the braking voltage threshold of the main (auxiliary) winch braking unit, the main (auxiliary) braking unit controls the main (auxiliary) winch braking resistor to intervene in the high-voltage circuit to consume the excess electrical energy and control the system voltage within a safe range.

[0121] in, Figure 5 The arrows in the dual winch control system of the continuous wall grab bucket shown indicate the energy flow direction when there is energy that can be recovered during the lowering of the grab bucket. Optionally, the dashed arrows will only take effect when the target voltage at the DC bus terminal of the main (auxiliary) winch motor controller is greater than or equal to the braking voltage threshold corresponding to the main (auxiliary) braking unit. This embodiment of the invention does not limit this. Figure 6 The arrows in the dual-winch control system of the continuous wall grab shown indicate the energy flow direction when no energy can be recovered. Figure 6 This is a schematic diagram of the structure of a dual winch control system for a continuous wall grab bucket disclosed in an embodiment of the present invention.

[0122] Furthermore, the division of mechanical energy and electrical energy components in the dual-winch control system of a continuous wall grab bucket can be as follows: Figure 6 As shown; for example, the high-voltage components corresponding to the dual-winch control system of the continuous wall grab bucket may include, for instance, the following. Figure 6 The multi-function controller, pump motor, compressor, heater (air conditioner), heater (battery), and DC-DC converter shown in the embodiments of the present invention are not limited.

[0123] Example 2

[0124] Please see Figure 7 , Figure 7 This is a flowchart illustrating a dual-winch control method for a continuous wall grab bucket disclosed in an embodiment of the present invention. Figure 7 The described dual-winch control method for continuous wall grabs can be applied to the dual-winch control system of continuous wall grabs. The dual-winch control system of a continuous wall grab can include a master control handle, a main winch system, an auxiliary winch system, a controller, a main braking system corresponding to the main winch system, and an auxiliary braking system corresponding to the auxiliary winch system. Specifically, the master control handle is electrically connected to the first end of the main winch system and the first end of the auxiliary winch system, respectively. The second end of the main winch system is electrically connected to the main braking system, and the second end of the auxiliary winch system is electrically connected to the auxiliary braking system. The third ends of the main winch system and the third ends of the auxiliary winch system are used to connect to the hydraulic grab. This embodiment of the invention is not limited to any particular type. Figure 7 As shown, the dual-winch control method for the continuous wall grab bucket may include the following operations:

[0125] 801. The master control handle generates control command signals and transmits them to the main hoisting system and the auxiliary hoisting system respectively.

[0126] In this embodiment of the invention, the control command signal is used to instruct the main hoisting system and the auxiliary hoisting system to perform lifting control operations on the hydraulic grab bucket; the control command signal includes at least a speed command signal.

[0127] 802. During the lifting and lowering process of the hydraulic grab bucket, the controller generates a speed compensation signal based on the received torque change value and a pre-set PID calculation formula, and transmits the speed compensation signal to the main hoisting system and the auxiliary hoisting system to optimize the control operation of the main hoisting system and the auxiliary hoisting system for the hydraulic grab bucket.

[0128] In this embodiment of the invention, the torque change value includes a first torque change value fed back by the main hoisting system and / or a second torque change value fed back by the auxiliary hoisting system; the speed compensation signal includes a first compensation signal and / or a second compensation signal.

[0129] 803. During the lifting and lowering process of the hydraulic grab bucket, when any braking system detects that the target voltage to be monitored meets the preset voltage protection conditions, it performs an energy consumption operation.

[0130] In this embodiment of the invention, any braking system is either a primary braking system or a secondary braking system.

[0131] As can be seen, the method described in the embodiments of the present invention enables a dual-winch control system for a continuous wall grab bucket, comprising a master control handle, a main winch system, an auxiliary winch system, a controller, a main braking system, and an auxiliary braking system. This system generates and transmits control command signals to the main and auxiliary winch systems via the master control handle, instructing them to perform lifting and lowering control operations on the grab bucket. During grab bucket lifting and lowering, the controller generates and transmits speed compensation signals to the main and auxiliary winch systems based on torque change values ​​and PID calculation formulas to optimize grab bucket control operations. This allows for optimized adjustment of the main (auxiliary) winch system's response to grab bucket control commands based on actual lifting and lowering conditions, thereby improving the synchronization of the dual-winch system's execution of grab bucket lifting and lowering control operations. This effectively adjusts the force conditions within the dual-winch system and reduces wear on the dual-winch system. The system reduces damage and improves the safety and accuracy of grab bucket lifting. Furthermore, during grab bucket lifting, if either braking system detects that the target voltage meets the voltage protection conditions, it performs an energy consumption operation to consume excess energy recovered in the circuit. This allows for efficient consumption of excess energy generated during energy recovery by adding main (auxiliary) braking systems, reducing the possibility of high-voltage breakdown of components in the circuit, thus protecting the components and improving the safety and reliability of the dual-winch system. Therefore, the system provided in this embodiment improves the accuracy of dual-winch control in continuous wall grab machinery while also improving the accuracy of energy consumption control during operation, thereby improving the operating efficiency, safety, and reliability of the continuous wall grab machinery, ultimately contributing to improved construction safety and efficiency.

[0132] In an optional embodiment, the main winch system may include a main winch motor controller, a main winch motor, a first reducer, a main winch brake, a main drum, and a main wire rope, wherein: the first end of the main winch motor controller is electrically connected to the master control handle, the second end of the main winch motor controller is electrically connected to the main winch motor, and the third end of the main winch motor controller is electrically connected to the main braking system, and the main winch motor, the first reducer, the main winch brake, and the main drum are connected in sequence, and the main drum is wound with the main wire rope, which is used to connect the hydraulic grab bucket;

[0133] The method may also include the following operations:

[0134] The main hoist motor controller receives the control command signal transmitted by the master control handle, and controls the main hoist motor, the first reducer, the main hoist brake, the main drum and the main wire rope according to the control command signal to perform the first lifting control operation for the hydraulic grab bucket.

[0135] During the lifting and lowering process of the hydraulic grab, the main winch motor converts the first load change information fed back by the hydraulic grab into a first torque change value, and transmits the first torque change value to the controller;

[0136] The main hoist motor controller receives the first compensation signal transmitted by the controller and optimizes the first lifting control operation for the hydraulic grab bucket based on the first compensation signal.

[0137] As can be seen, this optional embodiment can receive control command signals through the main winch motor controller and control the main winch motor, the first reducer, the main winch brake, the main drum, and the main wire rope according to the control command signals to control the lifting and lowering of the hydraulic grab bucket. It can also convert the first load change information fed back by the hydraulic grab bucket into a first torque change value through the main winch motor and transmit the first torque change value to the controller. After the controller feeds back the corresponding first compensation signal to the main winch motor controller, it can optimize the corresponding lifting and lowering control of the hydraulic grab bucket, which can further improve the reliability and accuracy of the main winch system's control of the hydraulic grab bucket. This is conducive to further improving the synchronization of the dual winch system's control operations, and thus further improving the safety and accuracy of grab bucket lifting and lowering.

[0138] In this optional embodiment, the auxiliary winch system may optionally include an auxiliary winch motor controller, an auxiliary winch motor, a second reducer, an auxiliary winch brake, an auxiliary drum, and an auxiliary wire rope, wherein: the first end of the auxiliary winch motor controller is electrically connected to the master control handle, the second end of the auxiliary winch motor controller is electrically connected to the auxiliary winch motor, and the third end of the auxiliary winch motor controller is electrically connected to the auxiliary braking system, and the auxiliary winch motor, the second reducer, the auxiliary winch brake, and the auxiliary drum are connected in sequence, and the auxiliary drum is wound with an auxiliary wire rope, which is used to connect the hydraulic grab bucket;

[0139] The method may also include the following operations:

[0140] The auxiliary winch motor controller receives the control command signal transmitted by the master handle, and controls the auxiliary winch motor, the second reducer, the auxiliary winch brake, the auxiliary drum and the auxiliary wire rope according to the control command signal to perform the second lifting control operation for the hydraulic grab bucket;

[0141] During the lifting and lowering process of the hydraulic grab, the auxiliary winch motor converts the second load change information fed back by the hydraulic grab into a second torque change value, and transmits the second torque change value to the controller;

[0142] The auxiliary winch motor controller receives the second compensation signal transmitted by the controller and optimizes the second lifting control operation for the hydraulic grab bucket based on the second compensation signal.

[0143] As can be seen, this optional embodiment can also receive control command signals through the auxiliary winch motor controller and control the auxiliary winch motor, the second reducer, the auxiliary winch brake, the auxiliary drum, and the auxiliary wire rope according to the control command signals to control the lifting and lowering of the hydraulic grab bucket. It can also convert the second load change information fed back by the hydraulic grab bucket into a second torque change value through the auxiliary winch motor and transmit the second torque change value to the controller. After the controller feeds back the corresponding second compensation signal to the auxiliary winch motor controller, it can optimize the corresponding lifting and lowering control of the hydraulic grab bucket, which can further improve the control reliability and control accuracy of the auxiliary winch system for the hydraulic grab bucket. This is conducive to further improving the synchronization of the dual winch system in performing control operations, and thus further improving the safety and accuracy of grab bucket lifting and lowering.

[0144] In this optional embodiment, the main braking system may include a main braking unit and a main braking resistor, and the auxiliary braking system may include an auxiliary braking unit and an auxiliary braking resistor; wherein: the first end of the main braking unit is electrically connected to the third end of the main hoist motor controller; and the first end of the auxiliary braking unit is electrically connected to the third end of the auxiliary hoist motor controller.

[0145] During the lifting and lowering of the hydraulic grab, if any braking system detects that the target voltage to be monitored meets the preset voltage protection conditions, it performs an energy consumption operation, which may include the following operations:

[0146] During the lifting and lowering process of the hydraulic grab bucket, when the braking unit in the braking system detects that the target voltage at the DC bus terminal of the winch motor controller corresponding to the braking system is greater than or equal to the braking voltage threshold corresponding to the braking unit, the braking resistor in the braking system is electrically connected to the braking unit so that the braking resistor is connected to the high voltage circuit of the whole machine, thereby consuming electrical energy by heating the braking resistor.

[0147] As can be seen, this optional embodiment can also connect the braking resistor to the braking unit during the lifting and lowering process of the hydraulic grab bucket when the braking unit detects that the voltage at the DC bus terminal of the winch motor controller is greater than or equal to the braking voltage threshold corresponding to the braking unit. This allows the braking resistor to intervene in the high-voltage circuit of the whole machine, thereby consuming electrical energy through the heating of the braking resistor. This can improve the accuracy of the braking resistor connection control, thereby improving the efficiency and timeliness of consuming excess electrical energy generated during energy recovery. It can also reduce the possibility of components in the circuit being broken down by high voltage, thus effectively protecting the remaining components in the circuit and improving the safety and reliability of the dual winch system.

[0148] In this optional embodiment, the dual winch control system of the continuous wall grab may also include an energy recovery system, wherein: the first end of the energy recovery system is electrically connected to the fourth end of the main winch motor controller and the fourth end of the auxiliary winch motor controller, respectively.

[0149] During the descent of the hydraulic grab, the energy recovery system recovers the first electrical energy generated by the main and auxiliary winch motors during rotation through the main winch motor controller and the auxiliary winch motor controller; and supplies power to the electrical components.

[0150] It is evident that this optional embodiment can also recover the electrical energy converted from the lowering of the hydraulic grab bucket under normal conditions, and at the same time, it can supply power to other electrical components, thereby improving the energy recovery efficiency of the dual winch system and the energy utilization rate of the continuous wall grab machinery.

[0151] Example 3

[0152] Please see Figure 8 , Figure 8 This is a schematic diagram of the structure of an engineering machine disclosed in an embodiment of the present invention. The engineering machine includes a dual-winch control system for a continuous wall grab bucket as described in any of the embodiments in Example 1. The functions that this engineering machine can achieve include, but are not limited to, the ability to precisely control the dual winches while consuming and converting excess electrical energy in emergency situations. It should be noted that for a detailed description of the dual-winch control system for the continuous wall grab bucket, please refer to the specific description in Example 1; it will not be repeated in this embodiment.

[0153] It is evident that implementation Figure 8The described engineering machinery utilizes a dual-winch control system for a continuous wall grab bucket, comprising a master control handle, a main winch system, an auxiliary winch system, a controller, a main braking system, and an auxiliary braking system. The master control handle generates and transmits control command signals to the main and auxiliary winch systems, instructing them to perform lifting and lowering control operations on the grab bucket. During grab bucket lifting and lowering, the controller generates and transmits speed compensation signals to the main and auxiliary winch systems based on torque changes and PID calculation formulas to optimize grab bucket control operations. This allows for optimized adjustment of the main (auxiliary) winch systems' response to grab bucket control commands based on actual lifting and lowering conditions, thereby improving the synchronization of the dual-winch system's execution of grab bucket lifting and lowering control operations. This effectively adjusts the force conditions within the dual-winch system and reduces wear and tear. This system improves the safety and accuracy of grab bucket lifting and lowering. Furthermore, during grab bucket lifting and lowering, if any braking system detects that the target voltage meets the voltage protection conditions, it performs an energy consumption operation to consume excess energy recovered in the circuit. This allows for efficient consumption of excess energy generated during energy recovery by adding main (auxiliary) braking systems, reducing the possibility of high-voltage breakdown of components in the circuit, thus protecting the components and improving the safety and reliability of the dual-winch system. Therefore, implementing the system provided in this embodiment improves the accuracy of dual-winch control in continuous wall grab machinery while simultaneously improving the accuracy of energy consumption control during operation, thereby improving the operating efficiency, safety, and reliability of the continuous wall grab machinery, ultimately contributing to improved construction safety and efficiency.

[0154] Finally, it should be noted that the dual winch control system, method, and engineering machinery for continuous wall grabs disclosed in the embodiments of this invention are merely preferred embodiments of the invention and are only used to illustrate the technical solutions of the invention, not to limit it. Although the 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. Such 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 this invention.

Claims

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

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

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

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

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

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

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

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

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

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

Images