CN113006490B - Concrete pumping equipment and control method thereof - Google Patents

Concrete pumping equipment and control method thereof Download PDF

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Publication number
CN113006490B
CN113006490B CN202110319032.8A CN202110319032A CN113006490B CN 113006490 B CN113006490 B CN 113006490B CN 202110319032 A CN202110319032 A CN 202110319032A CN 113006490 B CN113006490 B CN 113006490B
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pressure
load
cylinder
hydraulic
concrete
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CN202110319032.8A
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CN113006490A (en
Inventor
张旭东
石峰
石秋梅
王进
何全宁
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Xuzhou XCMG Schwing Machinery Co Ltd
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Xuzhou XCMG Schwing Machinery Co Ltd
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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/002—Hydraulic systems to change the pump delivery
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B9/00—Piston machines or pumps characterised by the driving or driven means to or from their working members
    • F04B9/08—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid
    • F04B9/10—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid
    • F04B9/109—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid having plural pumping chambers
    • F04B9/111—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid having plural pumping chambers with two mechanically connected pumping members
    • F04B9/113—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid having plural pumping chambers with two mechanically connected pumping members reciprocating movement of the pumping members being obtained by a double-acting liquid motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • F15B13/08—Assemblies of units, each for the control of a single servomotor only
    • F15B13/0803—Modular units
    • F15B13/0846—Electrical details
    • F15B13/085—Electrical controllers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6309—Electronic controllers using input signals representing a pressure the pressure being a pressure source supply pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/632—Electronic controllers using input signals representing a flow rate
    • F15B2211/6323—Electronic controllers using input signals representing a flow rate the flow rate being a pressure source flow rate
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/633—Electronic controllers using input signals representing a state of the prime mover, e.g. torque or rotational speed

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Architecture (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Reciprocating Pumps (AREA)

Abstract

The invention relates to a concrete pumping device and a control method thereof, wherein the concrete pumping device comprises: a dispensing valve; the first conveying cylinder is internally provided with a first concrete piston; the first hydraulic cylinder is configured to drive the first concrete piston to reciprocate in the first conveying cylinder; the second conveying cylinder is internally provided with a second concrete piston, alternately sucks the materials with the first conveying cylinder and alternately pushes the materials to the inlet of the distribution valve; the second hydraulic cylinder is configured to drive the second concrete piston to reciprocate in the second conveying cylinder; the third hydraulic cylinder drives the distribution valve to swing so that the inlet of the distribution valve is communicated with the first conveying cylinder and the second conveying cylinder alternately; a hydraulic pump configured to provide hydraulic fluid to the first, second, and third hydraulic cylinders; the overflow valve group is communicated with the hydraulic pump; a first detection member configured to detect whether a movement direction of a piston rod of the first hydraulic cylinder is switched; a controller respectively connected with the overflow valve group and the first detection component in signal connection to change the overflow pressure of the overflow valve group from the first pressure P when the movement direction of the piston rod of the first hydraulic cylinder is switched 1 Adjusted to a second pressure P 2 Wherein the first pressure P 1 Second pressure P 2 。

Description

Concrete pumping equipment and control method thereof
Technical Field
The invention relates to the field of constructional engineering machinery, in particular to concrete pumping equipment.
Background
Concrete pumping equipment is a construction engineering machine which utilizes a pipeline to convey concrete to a construction site. Fig. 1 shows a schematic configuration of a related art concrete pumping apparatus, and as shown in fig. 1, the concrete pumping apparatus includes a hopper 11' for receiving concrete to be delivered and a mixer 10' provided in the hopper 11 '.
Referring to fig. 1 to 2, a first material conveying opening and a second material conveying opening are arranged side by side on a first side wall of the hopper 11'. The concrete pumping equipment also comprises a first conveying cylinder 4 'and a second conveying cylinder 5' which are arranged side by side, wherein the first conveying cylinder 4 'is communicated with the first material conveying port, and the second conveying cylinder 5' is communicated with the second material conveying port.
The first concrete piston 7 'is arranged in the first conveying cylinder 4', the first concrete piston 7 'can reciprocate in the first conveying cylinder 4', and the first conveying cylinder 4 'sucks the material in the hopper 11' through the first material conveying opening in the process of moving the first concrete piston 7 'in the direction far away from the hopper 11'. During the movement of the first concrete piston 7' in the direction of approaching the hopper 11', the first transfer cylinder 4' discharges its sucked material.
The second concrete piston 6 'is arranged in the second conveying cylinder 5', the second concrete piston 6 'can reciprocate in the second conveying cylinder 5', and the second conveying cylinder 5 'sucks the material in the hopper 11' through the second material conveying port in the process that the second concrete piston 6 'moves in the direction far away from the hopper 11'. During the movement of the second concrete piston 6' in the direction close to the hopper 11', the second transfer cylinder 5' discharges its sucked material.
The concrete pumping equipment also comprises a first hydraulic cylinder 2' for driving the first concrete piston 7' to move in the first conveying cylinder 4' and a second hydraulic cylinder for driving the second concrete piston 6' to move in the second conveying cylinder 5 '. The piston rod of the first hydraulic cylinder 2' extends into the first transfer cylinder 4' and is connected to the first concrete piston, and the piston rod of the second hydraulic cylinder 1' extends into the second transfer cylinder 5' and is connected to the second concrete piston 6 '.
The concrete pumping equipment further comprises a water tank 3 'connected to one ends of the first and second delivery cylinders 4' and 5 'far away from the hopper 11', and the water tank 3 'is communicated with both the first and second delivery cylinders 4' and 5 'so that the first and second concrete pistons 7' and 6 'can move into the water tank 3' to contact the water in the water tank 3.
A distribution valve 9 'is also provided in the hopper, the distribution valve 9' comprising an inlet end 91 'and an outlet end 92', wherein the outlet end 92 'of the distribution valve 9' is in communication with the discharge opening 12 'of the concrete pumping device, and the distribution valve 9' is swingably mounted in the hopper 11 'such that the distribution valve 9' has a first state and a second state. The dispensing valve 9' may be an S-valve or a skirt valve.
The concrete pumping equipment further comprises a conveying pipe communicated with the discharge hole 12', and the conveying pipe is used for conveying concrete to a position where the concrete needs to be poured.
The concrete conveying apparatus also comprises a drive portion 8' that drives the distribution valve 9' to rock within the hopper 11 '. The drive portion 8' includes a hydraulic cylinder.
In some related art, a second side wall of the hopper 11 'opposite to the first side wall is provided with a mounting hole in which the outlet end 9' of the distribution valve 9 'is rotatably mounted to switch the distribution valve 9' between the first state and the second state.
Fig. 2 shows a schematic structural diagram of a concrete pumping device in a first working condition of conveying materials in a hopper 11 'towards a discharge port 12' and a distribution valve 9 'in a first state, as shown in fig. 2, when the distribution valve 9' is in the first state, the distribution valve 9 'is controlled to rotate until an inlet end 91' is butted with a first conveying port of the hopper 11', so that the inlet end 91' of the distribution valve 9 'is communicated with a first conveying cylinder 4'; and the first concrete piston 7 'in the first conveying cylinder 4' is controlled to move in a direction close to the hopper 11 'to convey the material in the first conveying cylinder 4' through the inlet end 91 'and the outlet end 92' of the distribution valve 9 'towards the discharge hole 12'; and the second concrete piston 6' in the second transfer cylinder 5' is controlled to move in a direction away from the hopper 11' to suck the material in the hopper 11' into the second transfer cylinder 5' through the second transfer opening.
When the distributing valve 9' is in the second state, the distributing valve 9' is controlled to rotate until the inlet end 91' is butted with the second material conveying port of the hopper 11', so that the inlet end 91' of the distributing valve 9' is communicated with the second conveying cylinder 5 '; and the second concrete piston 6 'in the second conveying cylinder 5' is controlled to move in a direction close to the hopper 11 'to convey the material in the second conveying cylinder 5' through the inlet end 91 'and the outlet end 92' of the distribution valve 9 'towards the discharge hole 12'; and the first concrete piston 7' in the first transfer cylinder 4' is controlled to move in a direction away from the hopper 11' to suck the material in the hopper 11' into the first transfer cylinder 4' through the first transfer opening.
The distribution valve 9 'is cyclically changed between the first state and the second state, while the first conveying cylinder 4' and the second conveying cylinder 5 'alternately suck in material and alternately discharge the sucked-in material, so that the discharge port 12' can continuously output material.
Fig. 3 shows a schematic structural diagram of a second operating condition (i.e. reverse pump) when the concrete pumping equipment is used for conveying materials from the discharge port 12 'into the hopper 11', as shown in fig. 3, when the concrete pumping equipment is used for conveying materials from the discharge port 12 'into the hopper 11', the concrete piston in the conveying cylinder communicated with the inlet end 91 'of the distribution valve 9' moves in a direction away from the hopper 11 'to suck the materials from the discharge port 12', and the concrete piston in the other conveying cylinder moves in a direction close to the hopper 11 'to convey the materials in the conveying cylinder into the hopper 11'.
Concrete pumping equipment has complex working conditions and relates to construction under the conditions of various pumping heights, various concrete grades and various pumping speeds. Under the bad working condition, for example, when super high-rise high-strength concrete pumping and segregation material expansion overhigh material pumping, the pumping pressure is relatively high, the swing efficiency of the distribution valve 9' is obviously reduced compared with that of common concrete, risks such as the distribution valve 9' is not moved or pipe blockage can occur in serious conditions, and meanwhile, the swing speed of the distribution valve 9' is reduced, so that the suction efficiency is reduced, and the wear of a glasses plate and a cutting ring which are provided with a first material conveying opening and a second material conveying opening is reduced.
Disclosure of Invention
The invention aims to provide concrete pumping equipment and a control method thereof, so as to solve the problem that a distribution valve is not smooth to swing when the pumping pressure of concrete conveying equipment is higher in the related technology.
According to an aspect of an embodiment of the present invention, there is provided a concrete pumping apparatus including:
a distribution valve including an inlet and an outlet
The first conveying cylinder is internally provided with a first concrete piston;
the first hydraulic cylinder is configured to drive the first concrete piston to reciprocate in the first conveying cylinder;
the second conveying cylinder is internally provided with a second concrete piston, alternately sucks the materials with the first conveying cylinder and alternately pushes the materials to the inlet of the distribution valve;
the second hydraulic cylinder is configured to drive the second concrete piston to reciprocate in the second conveying cylinder;
a third hydraulic cylinder for driving the distribution valve to swing so that the inlet of the distribution valve is alternately communicated with the first conveying cylinder and the second conveying cylinder;
a hydraulic pump configured to provide hydraulic fluid to the first, second, and third hydraulic cylinders;
the overflow valve group is communicated with the hydraulic pump;
a first detection member configured to detect whether a movement direction of a piston rod of the first hydraulic cylinder is switched;
a controller in signal connection with the overflow valve group and the first detection component respectively to change the overflow pressure of the overflow valve group from the first pressure P when the movement direction of the piston rod of the first hydraulic cylinder is switched 1 Adjusted to a second pressure P 2 Wherein the first pressure P 1 Second pressure P 2 。
In some embodiments, the concrete pumping equipment further comprises a second detection component configured to detect whether the moving direction of the piston rod of the second hydraulic cylinder is switched, and the controller is in signal connection with the second detection component and configured to change the overflow pressure of the overflow valve group from the first pressure P when the moving direction of the piston rod of any one of the first hydraulic cylinder and the second hydraulic cylinder is switched 1 Adjusted to a second pressure P 2 。
In some embodiments, the overflow valve block comprises:
first overflowA flow valve communicated with the outlet of the hydraulic pump, the first overflow valve having an overflow pressure of a first pressure P 1 ；
A second overflow valve communicated with the outlet of the hydraulic pump and connected with the first overflow valve in parallel, wherein the overflow pressure of the second overflow valve is a second pressure P 2 ；
The controller is in signal connection with the first overflow valve and the second overflow valve respectively so as to open the second overflow valve when the movement direction of the piston rod of the first hydraulic cylinder is switched.
In some embodiments, a relief pressure of the second relief valve is adjustable.
In some embodiments, the concrete pumping device further comprises a load detection component for detecting the load of the concrete pumping device, and the controller is in signal connection with the load detection component and is configured to:
the load K detected by the load detection unit is the first load K 1 While applying the second pressure P 2 Adjusted to p 1 The load K detected by the load detection unit is a second load K 2 While applying the second pressure P 2 Adjusted to p 2 Wherein the first load K 1 < second load K 2 ，p 1 ＞p 2 。
In some embodiments, the load detection component comprises:
a rotation speed detection part configured to detect a rotation speed n of an engine that drives the hydraulic pump to rotate; and/or
A flow rate detecting part configured to detect a flow rate V of the hydraulic fluid output from the hydraulic pump; and/or
A pumping pressure detecting part configured to detect a pressure p driving the first delivery cylinder or the second delivery cylinder hydraulic system b (ii) a And/or
A stirring pressure detection component configured to detect the pressure p of a hydraulic drive system of the stirring component in the hopper containing the materials pumped by the first conveying cylinder and the second conveying cylinder j 。
In some embodiments of the present invention, the,
controller, rotation speed detection component, flow detection component, pumping pressure detection component and stirring pressureThe force detection components are respectively connected with signals and configured to calculate the load, wherein the load K = K 1 *n+k 2 *V+k 3 *p b +k 4 *p j Wherein k is 1 、k 2 、k 3 、k 4 The correction coefficient is a rotation speed correction coefficient, a flow correction coefficient, a pumping pressure correction coefficient and a stirring pressure correction coefficient.
According to another aspect of the present invention, there is also provided a control method of a concrete pumping device, the control method including:
acquiring the motion states of a first hydraulic cylinder and a second hydraulic cylinder;
when the work direction of the piston rod of either the first hydraulic cylinder or the second hydraulic cylinder is switched, the overflow pressure of the overflow valve group is changed from the first pressure P 1 Adjusted to a second pressure P 2 Wherein the first pressure P 1 Second pressure P 2 。
In some embodiments, further comprising:
calculating the load K of the concrete pumping equipment, wherein the load K is a first load K 1 While applying the second pressure P 2 Adjusted to p 1 The load K detected by the load detection unit is a second load K 2 While applying the second pressure P 2 Adjusted to p 2 Wherein the first load K 1 < second load K 2 ，p 1 ＞p 2 。
In some embodiments, calculating the load K comprises:
detecting the rotating speed n of an engine driving a hydraulic pump to rotate;
detecting the flow rate V of the hydraulic fluid output by the hydraulic pump;
detecting the pressure p of a hydraulic system driving the first or second delivery cylinder b ；
Detecting the pressure p of a hydraulic drive system driving a mixing member housed in a hopper for the first and second delivery cylinders to suck the material j ；
Load K = K 1 *n+k 2 *V+k 3 *p b +k 4 *p j Wherein k is 1 、k 2 、k 3 、k 4 The correction coefficients are a rotating speed correction coefficient, a flow correction coefficient, a pumping pressure correction coefficient and a stirring pressure correction coefficient.
By applying the technical scheme of the invention, when the distribution valve needs to swing, the maximum pressure of the hydraulic system is adjusted to the second pressure P 2 Second pressure P 2 Is less than the first pressure P when the conveying cylinder works normally 1 When the distribution valve swings, the pressure of the material pushed by the conveying cylinder is reduced, the swing resistance of the distribution valve is reduced, and the swing smoothness of the distribution valve is improved.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the related arts, the drawings used in the description of the embodiments or the related arts will be briefly introduced below, it is obvious that the drawings in the description below are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view showing a structure of a concrete pumping apparatus of the related art;
FIG. 2 is a schematic structural diagram illustrating a distribution valve of a related art concrete pumping device in a first operating condition;
FIG. 3 is a schematic structural diagram illustrating a distribution valve of a related art concrete pumping device in a second operating condition;
fig. 4 shows a schematic structural view of a concrete pumping device of an embodiment of the present invention; and
fig. 5 shows a control flowchart of the concrete pumping device of the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 4 shows a schematic structural diagram of the concrete pumping equipment of the present embodiment, and as shown in fig. 4, the concrete pumping equipment of the present embodiment includes a hopper 10, a distribution valve 11, a first conveying cylinder 5, a first concrete piston 7, a second conveying cylinder 6, a second concrete piston 8, a first hydraulic cylinder 1, a second hydraulic cylinder 2, a third hydraulic cylinder 9, a first detection part 3, and a second detection part 4.
A first material conveying opening and a second material conveying opening are arranged on the first side wall of the hopper 10 side by side. The first conveying cylinder 5 and the second conveying cylinder 6 are respectively communicated with the first material conveying port and the second material conveying port.
A second side wall of the hopper 10, opposite the first side wall, is provided with a mounting aperture in which the outlet end of the dispensing valve 11 is rotatably mounted so that the dispensing valve 11 can oscillate within the hopper 10.
The distribution valve 11 is switched between a first position and a second position in the swing process, wherein the inlet of the distribution valve 11 is communicated with the first material conveying port in the first position, and the inlet of the distribution valve 11 is communicated with the second material conveying port in the second position.
A first concrete piston 7 is movably arranged in the first transfer cylinder 5, and the first hydraulic cylinder 1 is configured to drive the first concrete piston 7 to reciprocate in the first transfer cylinder 5. During the movement of the first concrete piston 7 away from the hopper 10, the first transfer cylinder 5 sucks material from the hopper 10 via the first transfer port. During the movement of the first concrete piston 7 towards the direction close to the hopper 10, the first delivery cylinder 5 pushes the material through the first delivery opening to the inlet of the distribution valve 11.
The first hydraulic cylinder 1 and the first conveying cylinder 5 are coaxially arranged, the first hydraulic cylinder 1 comprises a cylinder body, a piston 1a movably arranged in the cylinder body and a piston rod 1b connected with the piston 1a, and the piston rod 1b of the first hydraulic cylinder 1 extends into the first conveying cylinder 5 and is connected with a first concrete piston 7.
A second concrete piston 8 is movably arranged in the second transfer cylinder 6, and the second hydraulic cylinder 2 is arranged to drive the second concrete piston 8 to reciprocate in the second transfer cylinder 6. During the movement of the second concrete piston 8 away from the hopper 10, the second delivery cylinder 6 sucks material from the hopper 10 via the second delivery opening. During the process that the second concrete piston 8 moves towards the direction close to the hopper 10, the second conveying cylinder 6 pushes the material to the inlet of the distribution valve 11 through the second conveying port.
The second hydraulic cylinder 2 and the second conveying cylinder 6 are coaxially arranged, the second hydraulic cylinder 2 comprises a cylinder body, a piston 2a movably arranged in the cylinder body and a piston rod 2b connected with the piston 2a, and the piston rod 2b of the second hydraulic cylinder 2 extends into the second conveying cylinder 6 and is connected with a second concrete piston 8.
The third hydraulic cylinder 9 drives the distributor valve 11 to oscillate so that the inlet of the distributor valve 11 communicates alternately with the first delivery cylinder 5 and with the second delivery cylinder 6. At the same time, one of the first and second conveying cylinders 5 and 6 sucks the material from the hopper 10 and the other pushes the material to the inlet of the distribution valve 11, and the first and second conveying cylinders 5 and 6 alternately suck the material and alternately push the material to the inlet of the distribution valve 11, so that the concrete pumping apparatus can continuously output the material.
The concrete pumping apparatus further includes a hydraulic pump for supplying hydraulic fluid to the first hydraulic cylinder 1, the second hydraulic cylinder 2, and the third hydraulic cylinder 9, an overflow valve group in communication with the hydraulic pump, a controller configured to detect whether the movement direction of the piston rod 1b of the first hydraulic cylinder 1 is switched, and a controller.
The controller is respectively in signal connection with the overflow valve group and the first detection component 3 so as to enable the overflow pressure of the overflow valve group to be changed from the first pressure P when the movement direction of the piston rod of the first hydraulic cylinder 1 is switched 1 Adjusted to a second pressure P 2 Wherein the first pressure P 1 Second pressure P 2 。
When the pressure of the hydraulic system is greater than the relief pressure, the relief valve set opens to drain at least a portion of the hydraulic fluid to the return tank, thereby limiting the operating pressure of the hydraulic system below the relief pressure of the relief valve set.
Since, when the direction of movement of the piston rod of the first hydraulic cylinder 1 is switched, the position of the distribution valve 11 also needs to be adjusted accordingly, so that the inlet of the distribution valve 11 communicates with the delivery cylinder from which the material is pushed out, the detection of the direction of movement of the piston rod of the first hydraulic cylinder 1 is also a detection of whether the distribution valve 11 needs to be swung.
In this embodiment, when the distribution valve 11 needs to be swung, the maximum pressure of the hydraulic system is adjusted to the second pressure P 2 Second pressure P 2 Is less than the first pressure P of the conveying cylinder during normal operation 1 That is, when the distribution valve 11 swings, the pressure of the material pushed by the conveying cylinder is reduced, which is beneficial to reducing the swing resistance of the distribution valve 11 and improving the swing smoothness of the distribution valve 11. The normal work of the conveying cylinder is that: the distribution valve 11 completes the position switching, one of the first and second delivery cylinders 5, 6 communicates with the inlet of the distribution valve 11 to push the material to the inlet of the distribution valve 11, and the other sucks the material.
In the present embodiment, the first detection means 3 includes a position detection means provided at the end of formation of the piston of the first hydraulic cylinder 1, which is triggered and feeds back a signal to the controller when the piston of the first hydraulic cylinder 1 moves to the end of formation. The position detecting member includes a photoelectric type sensing member or a contact member.
The position detection component also comprises a pressure-resistant magnetic sensor which can detect ferrous metal and can output a switching value signal when the sensor senses the piston.
In other embodiments, the first detecting component 3 comprises a first pressure sensor for detecting the pressure in the rod chamber and a second pressure sensor for detecting the pressure in the rodless chamber, and the controller is in signal connection with the first sensor and the second sensor respectively to judge whether the movement direction of the piston in the first hydraulic cylinder 1 changes according to the pressure difference between the rod chamber and the rodless chamber.
In this embodiment, the concrete pumping device further comprises a second detection member 4, the second detection member 4 being configured to detect a piston rod of a second hydraulic cylinder2b, and a controller is in signal connection with the second detection means 4 and is arranged to change the relief pressure of the relief valve group from the first pressure P when the direction of movement of the piston rod of either the first cylinder 1 or the second cylinder 2 is switched 1 Adjusted to a second pressure P 2 。
Any device as the first detecting member 3 may be used as the second detecting member 4, but different devices that realize the same function may be used for the first detecting member 3 and the second detecting member 4.
In this embodiment, the relief valve group includes a first relief valve and a second relief valve. The first overflow valve is communicated with an outlet of the hydraulic pump, and the overflow pressure of the first overflow valve is a first pressure P1. The second overflow valve is communicated with the outlet of the hydraulic pump and is connected with the first overflow valve in parallel, and the overflow pressure of the second overflow valve is the second pressure P2. The controller is in signal connection with the first overflow valve and the second overflow valve respectively to open the second overflow valve when the direction of movement of the piston rod of the first hydraulic cylinder 1 is switched.
In the present exemplary embodiment, the relief pressure of the second relief valve is adjustable, i.e. the second pressure P 2 Is adjustable. The second relief valve comprises an electrically proportional adjustable relief valve.
When the first conveying cylinder 5 and the second conveying cylinder 6 work normally, the first overflow valve works. When the first conveying cylinder 5 and the second conveying cylinder 6 are reversed and the distributing valve 11 swings, the second overflow valve works.
The concrete pumping equipment also comprises a load detection component for detecting the load of the concrete pumping equipment, and the controller is in signal connection with the load detection component and is configured to:
the load K detected by the load detection unit is the first load K 1 While applying the second pressure P 2 Adjusted to p 1 The load K detected by the load detection unit is a second load K 2 While applying the second pressure P 2 Adjusted to p 2 Wherein the first load K 1 < second load K 2 ，p 1 ＞p 2 。
In this embodiment, the controller is further configured to detect at the load detection componentThe load K to be the third load K 3 While applying the second pressure P 2 Adjusted to p 3 Wherein the second load K 2 < third load K 3 ，p 2 ＞p 3 。
In the present embodiment, the first load K 1 Is light load, the second load K 2 For medium load, the third load K 3 Under the working conditions of heavy load, light load, medium load and heavy load, the second pressure P 2 Are each p 1 、p 2 And p 3 And p is 1 ＞p 2 ＞p 3 。
The load detection part comprises a rotating speed detection part, a flow rate detection part, a pumping pressure detection part and a stirring pressure detection part.
The rotation speed detection means is configured to detect a rotation speed n of an engine that drives the hydraulic pump to rotate.
The flow rate detecting part is configured to detect a flow rate V of the hydraulic fluid output from the hydraulic pump.
The pumping pressure detecting means is configured to detect the pressure p of the hydraulic system that drives the first delivery cylinder 5 or the second delivery cylinder 6 b 。
The mixing pressure detection means is configured to detect the pressure p of the hydraulic drive system of the mixing means in the hopper 10 containing the material to be pumped by the first and second delivery cylinders 5, 6 j 。
The controller is in signal connection with the rotating speed detection component, the flow detection component, the pumping pressure detection component and the stirring pressure detection component respectively and is configured to calculate load, and the load K = K 1 *n+k 2 *V+k 3 *p b +k 4 *p j Wherein k is 1 、k 2 、k 3 、k 4 The correction coefficients are a rotating speed correction coefficient, a flow correction coefficient, a pumping pressure correction coefficient and a stirring pressure correction coefficient.
The pumping pressure detection component is used for monitoring the pressure of a hydraulic system for driving the pumping cylinder in real time, the hydraulic system is used for driving the first hydraulic cylinder and the second hydraulic cylinder to move and change direction, and the higher the pumping pressure is, the larger the external working condition for reflecting the current equipment to work is. The stirring pressure sensor is used for monitoring the pressure of a hydraulic system of the driving stirring part in real time, the hydraulic system of the driving stirring part is used for driving the rotating motion of the stirring mechanism, the segregation of materials in the hopper is prevented, the working conditions of different materials during stirring are different, and the condition of the current pumping materials can be reflected by monitoring the stirring pressure.
The controller is a centralized control unit of the concrete pumping equipment and is used for receiving various inputs of a user and the outside, wherein the inputs comprise the starting and stopping of pumping actions, the increasing and decreasing of pumping speed, the collection of pumping pressure and stirring pressure and the like. And meanwhile, a control instruction is output after logic calculation according to a preset program, and the electric control buffer module is controlled to work.
When the piston of the first hydraulic cylinder 1 moves to the right to the first detection part 3, the first detection part 3 outputs a reversing signal to the controller. The controller is at t 0 The signal is firstly output at any time to control the second overflow valve to work, and the overflow pressure of the second overflow valve is reduced to p preset according to the value of the load K 1 /p 2 /p 3 A value; at t 1 Outputting a signal at a moment to control the third oil cylinder 9 to change direction, and communicating a distribution valve 11 with the second conveying cylinder 6 after changing direction; after which the controller is at t 2 The first hydraulic cylinder and the second hydraulic cylinder are controlled to change directions by outputting signals at any moment, after the change of the directions, the piston of the second hydraulic cylinder 2 and the concrete piston of the second conveying cylinder 6 move rightwards, and the concrete is pushed out through a distribution valve 9; the piston of the first hydraulic cylinder 1 and the concrete piston of the first delivery cylinder 5 run to the left, sucking in concrete from the hopper.
The invention provides a method and a system for self-adaptively adjusting pumping pressure according to working conditions during pumping reversing, aiming at the problems that abnormal swing reversing of a distribution valve 11, large swing time change, discontinuous pumping work, pipe blockage, low suction efficiency and short service life of wearing parts can be caused under complex working conditions.
The pumping control system has the functions of acquiring the rotating speed of the engine, the discharge capacity of the oil pump, the pumping pressure and the swing pressure in real time and judging the current working condition.
The pumping control method can adjust the reversing pressure of the pumping system during reversing according to the judgment of the working condition. Under the light load working condition, the reversing pressure of the pumping system is set to be higher, so that the reversing efficiency can be ensured; under the heavy-load working condition, the reversing pressure of the pumping system is set to be lower, the quick swing can be ensured, and the wearing of a wearing part is reduced.
The present invention is not intended to be limited to the above exemplary embodiments but rather to be construed in breadth and scope in accordance with the appended claims.

Claims (9)

1. Concrete pumping equipment, characterized in that it comprises:
a dispensing valve (11) comprising an inlet and an outlet;
a first conveying cylinder (5) in which a first concrete piston (7) is arranged;
a first hydraulic cylinder (1) configured to drive the first concrete piston (7) to reciprocate within the first delivery cylinder (5);
a second conveying cylinder (6) which is internally provided with a second concrete piston (8) and alternately sucks the materials with the first conveying cylinder (5) and alternately pushes the materials to an inlet of the distribution valve (11);
a second hydraulic cylinder (2) configured to drive the second concrete piston (8) to reciprocate within the second transfer cylinder (6);
a third hydraulic cylinder (9) driving the distribution valve (11) to oscillate so as to put the inlet of the distribution valve (11) in communication alternately with the first delivery cylinder (5) and with the second delivery cylinder (6);
a hydraulic pump configured to provide hydraulic fluid to the first hydraulic cylinder (1), the second hydraulic cylinder (2) and the third hydraulic cylinder (9);
an overflow valve bank in communication with the hydraulic pump;
a first detection means (3) configured to detect whether the movement direction of a piston rod (1 b) of the first hydraulic cylinder (1) is switched;
a controller which is respectively in signal connection with the overflow valve group and the first detection component (3) so as to change the overflow pressure of the overflow valve group from a first pressure P when the movement direction of the piston rod of the first hydraulic cylinder (1) is switched 1 Adjusted to a second pressure P 2 Wherein the first pressure P 1 Second pressure P 2 ，
The concrete pumping equipment also comprises a load detection component for detecting the load of the concrete pumping equipment, and the controller is in signal connection with the load detection component and is configured to:
the load K detected by the load detection unit is the first load K 1 While applying said second pressure P 2 Adjusted to p 1 The load K detected by the load detection unit is a second load K 2 While applying said second pressure P 2 Adjusted to p 2 Wherein the first load K 1 < second load K 2 ，p 1 ＞p 2 。
2. The concrete pumping apparatus according to claim 1, further comprising a second detecting member (4), wherein the second detecting member (4) is configured to detect whether the moving direction of the piston rod (2 b) of the second hydraulic cylinder is switched, and the controller is in signal connection with the second detecting member (4) and configured to change the relief pressure of the relief valve group from the first pressure P when the moving direction of the piston rod of any one of the first hydraulic cylinder (1) and the second hydraulic cylinder (2) is switched 1 Adjusted to the second pressure P 2 。
3. Concrete pumping plant according to claim 1, characterized in that said overflow valve group comprises:
a first overflow valve communicated with the outlet of the hydraulic pump, wherein the overflow pressure of the first overflow valve is a first pressure P 1 ；
A second overflow valve communicated with the outlet of the hydraulic pump and connected with the first overflow valve in parallel, wherein the overflow pressure of the second overflow valve is a second pressure P 2 ；
The controller is in signal connection with the first overflow valve and the second overflow valve respectively so as to open the second overflow valve when the movement direction of the piston rod of the first hydraulic cylinder (1) is switched.
4. Concrete pumping equipment according to claim 3, characterized in that the relief pressure of the second relief valve is adjustable.
5. The concrete pumping apparatus according to claim 1, wherein the load detection part includes:
a rotation speed detection means configured to detect a rotation speed n of an engine that drives the hydraulic pump to rotate; and/or
A flow rate detecting part configured to detect a flow rate V of the hydraulic fluid output from the hydraulic pump; and/or
A pumping pressure detection means configured to detect a pressure p driving the first (5) or second (6) delivery cylinder hydraulic system b (ii) a And/or
A mixing pressure detection member configured to detect a pressure p of a hydraulic drive system of a mixing member in a hopper (10) containing material to be pumped by the first and second transport cylinders (5, 6) j 。
6. Concrete pumping equipment according to claim 5,
the controller is in signal connection with the rotating speed detection component, the flow detection component, the pumping pressure detection component and the stirring pressure detection component respectively, and is configured to calculate the load, wherein the load K = K 1 *n+k 2 *V+k 3 *p b +k 4 *p j Wherein k is 1 、k 2 、k 3 、k 4 The correction coefficients are a rotating speed correction coefficient, a flow correction coefficient, a pumping pressure correction coefficient and a stirring pressure correction coefficient.
7. The control method of a concrete pumping equipment as claimed in any one of claims 1 to 6, characterized by comprising:
acquiring the motion states of the first hydraulic cylinder (1) and the second hydraulic cylinder (2);
if the work direction of the piston rod of any one of the first hydraulic cylinder (1) and the second hydraulic cylinder (2) is switched, the overflow valve group is switchedIs controlled by a first pressure P 1 Adjusted to a second pressure P 2 Wherein the first pressure P 1 Second pressure P 2 。
8. The method for controlling a concrete pumping apparatus according to claim 7, further comprising:
calculating the load K of the concrete pumping equipment, wherein the load K is a first load K 1 While applying the second pressure P 2 Adjusted to p 1 The load K detected by the load detection unit is a second load K 2 While applying the second pressure P 2 Adjusted to p 2 Wherein the first load K 1 < second load K 2 ，p 1 ＞p 2 。
9. The method of claim 8, wherein the calculating the load K includes:
detecting the rotating speed n of an engine driving the hydraulic pump to rotate;
detecting the flow rate V of the hydraulic fluid output by the hydraulic pump;
detecting the pressure p of a hydraulic system driving the first (5) or second (6) delivery cylinder b ；
Detecting the pressure p of a hydraulic drive system driving a mixing element housed in a hopper (10) for sucking material by a first conveying cylinder (5) and a second conveying cylinder (6) j ；
The load K = K 1 *n+k 2 *V+k 3 *p b +k 4 *p j Wherein k is 1 、k 2 、k 3 、k 4 The correction coefficients are a rotating speed correction coefficient, a flow correction coefficient, a pumping pressure correction coefficient and a stirring pressure correction coefficient.
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