CN103015724B - Device and method for safely controlling pumping material level of concrete as well as concrete pumping equipment - Google Patents
Device and method for safely controlling pumping material level of concrete as well as concrete pumping equipment Download PDFInfo
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- CN103015724B CN103015724B CN201210584291.4A CN201210584291A CN103015724B CN 103015724 B CN103015724 B CN 103015724B CN 201210584291 A CN201210584291 A CN 201210584291A CN 103015724 B CN103015724 B CN 103015724B
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Abstract
The invention provides a device and method for safely controlling pumping material level of concrete as well as concrete pumping equipment. The device for safely controlling pumping material level of concrete comprises a first material level sensor, a second material level sensor and a controller, wherein the first material level sensor sends a first signal when material reaches a first position and is contacted with the first material level sensor; the second material level sensor sends a second signal when the material reaches a second position and is contacted with the second material level sensor; the first position is lower than the second position; and the controller is electrically connected with the first material level sensor and the second material level sensor. If the current working condition is in a start state, and the second signal is received, the controller sends a pumping starting signal; and when the current working condition is in the start state and the second signal is not received, the controller does not send a pumping starting signal. According to the invention, only when the material level is higher than or as high as the second position, the pumping starting signal can be generated, so that pumping is not required to be started or stopped frequently.
Description
Technical field
The present invention relates to concrete pumping field, more specifically, relate to a kind of concrete pumping material level safety control, method and concrete pumping equipment.
Background technology
Pumping equipment of the prior art normally arranges the first critical material level and the second critical material level, and wherein, the first critical material level, lower than the second critical material level, needs to make material level be between these two material levels, to prevent to inhale empty problem.Further, as long as material level is between these two material levels, so pumping will be started.
Like this, material level is likely made to fall back to rapidly below the first critical material level, so, after concrete pumping equipment detects this situation, stop pumping.Then, in hopper, add material, after a bit of time, material level again more than the first critical material level, so concrete pumping equipment starts pumping again.Circulation like this, can cause frequent starting pumping and stop pumping, and causes inhaling empty phenomenon.
Summary of the invention
The present invention aims to provide one and can prevent frequent starting pumping and stop pumping, avoids inhaling concrete pumping material level safety control, method and concrete pumping equipment that empty problem occurs.
For solving the problems of the technologies described above, according to a first aspect of the invention, providing a kind of concrete pumping material level safety control, comprising: the first level sensor, arrive primary importance at material and send the first signal when contacting with the first level sensor; Second level sensor, arrive the second place at material and send secondary signal when contacting with the second level sensor, primary importance is lower than the second place; And controller, be electrically connected with the first level sensor and the second level sensor; If current working is starting state and receives secondary signal, then controller sends startup pump signal; If current working is starting state but does not receive secondary signal, then controller does not send startup pump signal.
Further, it is characterized in that, if current working is running status, but do not receive the first signal and secondary signal, then controller sends stopping pump signal.
Further, if current working is running status, and receive the first signal, then controller sends maintenance pump signal.
Further, the first level sensor comprises insulation sleeve and steel core, and insulation sleeve is enclosed within steel core, and the end of steel core is given prominence in the outside of insulation sleeve to form the first detection head, and material contacts with the first detection head thus produces the first signal.
Further, the second level sensor has the structure identical with the first level sensor.
Further, insulation sleeve is ceramic jacket.
Further, concrete pumping material level safety control also comprises: installing mechanism, installing mechanism comprises mount pad, support and fishbolt, mount pad is connected with the first end of support, and support comprises the Part I and Part II that are set gradually to the direction of the second end of support by the first end of support; Part II is provided with the sensor mounting hole that vertical groove and two are vertically arranged, groove is extended to the direction of the first end of support by the second end of support, and groove runs through two sensor mounting hole and Part II is divided into the first intermediate plate and the second intermediate plate; First intermediate plate is connected by fishbolt in the horizontal direction with the second intermediate plate; First level sensor and the second level sensor are clamped in a sensor mounting hole respectively by fishbolt.
Further, concrete pumping material level safety control also comprises enable switch, is connected with controller, for controlling unlatching or the closedown of controller.
According to a second aspect of the invention, provide a kind of concrete pumping equipment, comprise hopper and be arranged on the concrete pumping material level safety control on hopper inwall, this concrete pumping material level safety control is above-mentioned concrete pumping material level safety control.
According to a third aspect of the present invention, provide a kind of concrete pumping material level method of controlling security, comprising: the first level sensor is provided, arrive primary importance at material and send the first signal when contacting with the first level sensor; There is provided the second level sensor, arrive the second place at material and send secondary signal when contacting with the second level sensor, wherein, primary importance is lower than the second place; If current working is starting state and receives secondary signal, then start pumping; If current working is starting state and does not receive secondary signal, then do not start pumping.
Further, if current working is running status, but do not receive the first signal and secondary signal, then stop pumping.
Further, if current working is running status, and receive the first signal, then keep pumping.
Further, provide first level sensor with insulation sleeve and steel core, be enclosed within steel core by insulation sleeve, and make the end of steel core give prominence in the outside of insulation sleeve to form the first detection head, material contacts with the first detection head thus produces the first signal.
Further, insulation sleeve ceramic materials is made.
The present invention, only when material level is more than or equal to the second place, just can generate startup pump signal.Like this, also store enough materials between the first position and the second position for pumping, and the material that pumping consumes can be supplemented in time.Therefore, material can not be depleted to the degree lower than primary importance soon, therefore, and can not frequent starting pumping and stop pumping, thus avoid pump and inhale empty problem, it also avoid the significantly vibration of the jib of concrete pumping equipment.
Accompanying drawing explanation
The accompanying drawing forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 diagrammatically illustrates the using state figure of the concrete pumping material level safety control in the present invention;
Fig. 2 diagrammatically illustrates the front view of installing mechanism;
Fig. 3 diagrammatically illustrates the top view of Fig. 2; And
Fig. 4 diagrammatically illustrates the circuit connecting relation figure in the present invention.
Reference numeral in figure: 10, the first level sensor; 11, the first detection head; 12, insulation sleeve; 13, steel core; 20, the second level sensor; 21, the second detection head; 30, installing mechanism; 31, mount pad; 32, support; 33, fishbolt; 34, groove; 35, sensor mounting hole; 36, the first intermediate plate; 37, the second intermediate plate; 40, hopper; 50, controller; 60, pumping electromagnetic valve; 70, enable switch.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are described in detail, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.
As a first aspect of the present invention, please refer to Fig. 1, provide a kind of concrete pumping material level safety control, comprising: the first level sensor 10, arrive primary importance at material and send the first signal when contacting with the first level sensor 10; Second level sensor 20, arrive the second place at material and send secondary signal when contacting with the second level sensor 20, primary importance is lower than the second place; With controller 50, be electrically connected with the first level sensor 10 and the second level sensor 20; If current working is starting state and receives secondary signal, then controller 50 sends startup pump signal; If current working is starting state but does not receive secondary signal, then controller 50 does not send startup pump signal.
When the first level sensor 10 contacts with material, the first level sensor 10 sends the first signal; When the second level sensor 20 contacts with material, the second level sensor 20 sends secondary signal.That is, when controller 50 receives the first signal, showing that material level is more than or equal to primary importance, when not receiving the first signal, showing that material level is lower than primary importance; When controller 50 receives secondary signal, show that material level is more than or equal to the second place, when not receiving secondary signal, show that material level is lower than the second place.After generation starts pump signal, concrete pumping equipment can enter pumping state by non-pumping state, if do not generate startup pump signal, then remains on non-pumping state.
The present invention, only when material level is more than or equal to the second place, just can generate startup pump signal.Like this, also store enough materials between the first position and the second position for pumping, and the material that pumping consumes can be supplemented in time.Therefore, material can not be depleted to the degree lower than primary importance soon, therefore, and can not frequent starting pumping and stop pumping, thus avoid pump and inhale empty problem, it also avoid the significantly vibration of the jib of concrete pumping equipment.
The first level sensor 10 and the second level sensor 20 is made to be in different height, there is the phenomenon of vibration in the detection signal that material level can be avoided in critical condition to cause level sensor to export, compared with only adopting the scheme of a level sensor, there is higher precision and reliability.In addition, the present invention realizes the detection to material level by the first level sensor and the second level sensor, do not need manual observation material level, therefore, and the height of mode direct-detection material level by contacting with material, can reliably detect in real time material level, the situation of Timeliness coverage material deficiency, avoid the situation that operating personnel can only control pumping by rule of thumb, time-consuming when solving Level control in prior art, effort, insecure problem.
Preferably, if current working is running status, but do not receive the first signal and secondary signal, then controller 50 sends stopping pump signal.Now, material level is lower than primary importance, and namely material is not enough, stops pump signal stopping pumping to make concrete pumping equipment so generate.
Preferably, if current working is running status, and receive the first signal, then controller 50 sends maintenance pump signal.When running status, as long as receive the first signal (no matter whether receiving secondary signal), all show that material level is greater than or equal to primary importance, keep pump signal so generate, like this, concrete pumping equipment maintains running status, and continues pumping.
Preferably, the first level sensor 10 comprises insulation sleeve 12 and steel core 13, and insulation sleeve 12 is enclosed within steel core 13, and the end of steel core 13 is given prominence in the outside of insulation sleeve 12 to form the first detection head 11, and material contacts with the first detection head 11 thus produces the first signal.Wherein, insulation sleeve 12 can make the containers such as steel core 13 and hopper keep insulating, to make having different current potentials between the containers such as hopper from steel core 13.Be placed in the containers such as hopper due to material, therefore, the containers such as material and hopper have identical current potential, when material contacts with the end of steel core 13, steel core 13 will be made to have the current potential identical with the container such as material, hopper, thus produce the first signal.Preferably, the second level sensor 20 has the structure identical with the first level sensor 10.Preferably, insulation sleeve 12 is ceramic jackets.Certainly, insulation sleeve 12 also can be made up of other insulation materials, such as plastics etc.
Especially, because the car load crossbeam of bucket wall and concrete pumping equipment is in same current potential, i.e. storage battery negative pole, now, controller can detect a negative level signal (the first signal or secondary signal).Visible, this negative level signal generating mode is simple and stable, is not easily interfered and fluctuates, this improves the reliability of system, reduce fault rate.
Preferably, please refer to Fig. 1 to Fig. 3, concrete pumping material level safety control also comprises: installing mechanism 30, installing mechanism 30 comprises mount pad 31, support 32 and fishbolt 33, mount pad 31 is connected with the first end of support 32, and support 32 comprises the Part I and Part II that are set gradually to the direction of the second end of support 32 by the first end of support 32; Part II is provided with vertical groove 34 and two sensor mounting hole 35 vertically arranged, groove 34 is extended to the direction of the first end of support 32 by the second end of support 32, and groove 34 runs through two sensor mounting hole 35 and Part II is divided into the first intermediate plate 36 and the second intermediate plate 37; First intermediate plate 36 is connected by fishbolt 33 in the horizontal direction with the second intermediate plate 37; First level sensor 10 and the second level sensor 20 are clamped in a sensor mounting hole 35 respectively by fishbolt 33.Especially, mount pad 31 is the installing plate be obliquely installed relative to the axis of support 32, because mount pad 31 is obliquely installed, therefore, when installation, can adapt to the shape of hopper inwall, make support 32 be positioned at level.
During installation, the first level sensor 10 and the second level sensor 20 are inserted in a sensor mounting hole 35 respectively, then tightens fishbolt 33.Owing to there is groove 34 between the first intermediate plate 36 and the second intermediate plate 37, therefore, the first intermediate plate 36 and the second intermediate plate 37 can to the direction motions mutually drawn close.Thus the first level sensor 10 and the second level sensor 20 are reliably clamped between the first intermediate plate 36 and the second intermediate plate 37.
When needing to detect different material levels, fishbolt 33 can be unclamped, first level sensor 10 and the second level sensor 20 are moved up or down, and again by fishbolt 33, it is fixedly clamped again, just can regulate the setting height(from bottom) of the first detection head 11 and the second detection head 21 easily.Like this, the control to different material level can be realized, with the requirement of satisfied different hopper, different pumping system, there is adaptable feature.
Preferably, material level safety control also comprises enable switch 70, is connected with controller 50, for controlling unlatching or the closedown of controller 50.When enable switch 70 is opened, controller 50 can normal response first signal, secondary signal etc., normally can control the operation of pay-off.When enable switch 70 is closed, no longer response is produced to any signal, also no longer any control is carried out to pumping.
As a second aspect of the present invention, provide a kind of concrete pumping equipment, the concrete pumping material level safety control comprising hopper 40 and be arranged on hopper 40 inwall, this concrete pumping material level safety control is above-mentioned concrete pumping material level safety control.
Preferably, material level safety control is connected with the inwall of hopper 40 by the mount pad 31 of its installing mechanism 30.Preferably, mount pad 31 is connected with the inwall of hopper 40 by bolt etc.Now, the first level sensor 10 and the second level sensor 20 are all vertically arranged on support 32, and only the first level sensor 10 is different from the height of the free end (i.e. the first detection head 11 and the second detection head 21) of the second level sensor 20.Preferably, concrete pumping equipment can be concrete mixer etc.
Especially, material, i.e. concrete, send in hopper 40 by truck-transit mixer etc., due to concrete directly and the contact internal walls of hopper 40, therefore, concrete has the current potential identical with hopper 40.In addition, because hopper 40 is arranged on car load, and car load has the current potential identical with the negative pole of battery, and hopper 40 and interior concrete thereof have the stable current potential identical with the negative pole of battery.When concrete contacts with the first detection head 11 or the second detection head 21, the first detection head 11 or the second detection head 21 will be made to have the current potential identical with the negative pole of battery, so produce the first signal or secondary signal.Therefore, the first signal and secondary signal are one and stablize and reliable low level signal, can not be subject to outside interference, improve the accuracy of the reliability of control.Relative to the equidistant detection scheme of ultrasonic wave, the level of direct-detection material of the present invention, more directly, more reliably, more accurate.
Below with reference to Fig. 4, the course of work of the concrete pumping equipment of the material level safety control used in the present invention is described in detail.
Controller 50 comprises multiple input terminals such as the sub-IN01 of first input end, the second input terminal IN02 and the 3rd input terminal IN03, also comprises multiple lead-out terminals such as the first lead-out terminal OUT01, the second lead-out terminal OUT02, the 3rd lead-out terminal OUT03 and the 4th lead-out terminal OUT04.Wherein, the sub-IN01 of first input end is connected with the output of the first level sensor 10, and the second input terminal IN02 is connected with the output of the second level sensor 20, and the 3rd input terminal IN03 is connected with enable switch 70.First lead-out terminal OUT01, the second lead-out terminal OUT02, the 3rd lead-out terminal OUT03 and the 4th lead-out terminal OUT04 are electrically connected with pumping electromagnetic valve respectively.
1., when the 3rd input terminal IN03 is without (enable switch 70 disconnects) during input, now, the material level safety control function of controller 50 is closed, and does not do any restriction to pump action.
2. when the 3rd input terminal IN03 has input (enable switch 70 closes), the material level safety control function of controller 50 is opened:
(1) if be in starting state:
If a. the sub-IN01 of first input end and the second input terminal IN02 all have input without input or the sub-IN01 of first input end but the second input terminal IN02 without input, represent that material level is lower than the position of the second detection head 21 of the second level sensor 20.In this case, the lead-out terminal no signal of the control pump power transmission magnet valve 60 of controller 50 exports, without pump action;
If b. the sub-IN01 of first input end and the second input terminal IN02 all has input, represent the position of material level higher than the second detection head 21, so the lead-out terminal of the control pump power transmission magnet valve 60 of controller 50 has signal to export, so, control pumping by pumping electromagnetic valve 60 and start action.
(2) running status (namely starting pumping) is in:
If a. the sub-IN01 of first input end and the second input terminal IN02 all has input, or the sub-IN01 of first input end have input and the second input terminal IN02 without input, represent that in hopper, material level is higher than the position of the first detection head 11 in pumping procedure, controller 50 control pump power transmission magnet valve 60 makes pump action keep;
If b. the sub-IN01 of first input end and the second input terminal IN02I is all without input, represent in pumping procedure, in hopper, material level is lower than the position of the first detection head 11, and controller 50 control pump power transmission magnet valve 60 makes pump action stop.Further, after pumping stops, only when position (namely first input end IN01 and second input terminal IN02I all have input) of material level again higher than the second detection head 21, controller 50 just can send signal recuperation pump action.
Compared with prior art, present invention achieves the Real-Time Monitoring to material level in hopper, and realize automatic, the Based Intelligent Control to pumping by controller 50, there is simple, efficient, reliable feature, effectively can prevent pumping from inhaling empty situation and occur.
As a third aspect of the present invention, provide a kind of concrete pumping material level method of controlling security, comprising: the first level sensor 10 is provided, arrive primary importance at material and send the first signal when contacting with the first level sensor 10; There is provided the second level sensor 20, arrive the second place at material and send secondary signal when contacting with the second level sensor 20, wherein, primary importance is lower than the second place; If current working is starting state and receives secondary signal, then start pumping; If current working is starting state and does not receive secondary signal, then do not start pumping.
The present invention, only when material level is more than or equal to the second place, just can start pumping.Like this, also store enough materials between the first position and the second position for pumping, and the material that pumping consumes can be supplemented in time.Therefore, material can not be depleted to the degree lower than primary importance soon, therefore, can not cause frequent starting pumping and stop pumping, thus avoiding the problem that sky inhaled by pump, it also avoid the significantly vibration of the jib of concrete pumping equipment.
Preferably, if current working is running status, but do not receive the first signal and secondary signal, then stop pumping.
Preferably, if current working is running status, and receive the first signal, then keep pumping.
Preferably, first level sensor 10 with insulation sleeve 12 and steel core 13 is provided, be enclosed within steel core 13 by insulation sleeve 12, and make the end of steel core 13 give prominence in the outside of insulation sleeve 12 to form the first detection head 11, material contacts with the first detection head 11 thus produces the first signal.
Preferably, insulation sleeve 12 is made with ceramic materials.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (14)
1. a concrete pumping material level safety control, is characterized in that, comprising:
First level sensor (10), arrives primary importance at material and sends the first signal when contacting with described first level sensor (10);
Second level sensor (20), arrive the second place at material and send secondary signal when contacting with described second level sensor (20), described primary importance is lower than the described second place; With
Controller (50), is electrically connected with described first level sensor (10) and described second level sensor (20); If current working is starting state and receive described secondary signal, then described controller (50) sends startup pump signal; If current working is starting state but do not receive described secondary signal, then described controller (50) does not send described startup pump signal.
2. concrete pumping material level safety control according to claim 1, is characterized in that, if described current working is running status, but do not receive described first signal and described secondary signal, then described controller (50) sends stopping pump signal.
3. concrete pumping material level safety control according to claim 1, is characterized in that, if described current working is running status, and receive described first signal, then described controller (50) sends maintenance pump signal.
4. concrete pumping material level safety control according to claim 1, it is characterized in that, described first level sensor (10) comprises insulation sleeve (12) and steel core (13), described insulation sleeve (12) is enclosed within described steel core (13), and the end of described steel core (13) is given prominence in the outside of described insulation sleeve (12) to form the first detection head (11), described material contacts with described first detection head (11) thus produces described first signal.
5. concrete pumping material level safety control according to claim 4, is characterized in that, described second level sensor (20) has the structure identical with described first level sensor (10).
6. concrete pumping material level safety control according to claim 4, is characterized in that, described insulation sleeve (12) is ceramic jacket.
7. concrete pumping material level safety control according to claim 1, is characterized in that, described concrete pumping material level safety control also comprises:
Installing mechanism (30), described installing mechanism (30) comprises mount pad (31), support (32) and fishbolt (33), described mount pad (31) is connected with the first end of described support (32), and described support (32) comprises the Part I and Part II that are set gradually to the direction of the second end of described support (32) by the first end of described support (32);
Described Part II is provided with vertical groove (34) and two sensor mounting hole (35) vertically arranged, described groove (34) is extended to the direction of the first end of described support (32) by the second end of described support (32), and described groove (34) runs through described two sensor mounting hole (35) and described Part II is divided into the first intermediate plate (36) and the second intermediate plate (37); Described first intermediate plate (36) is connected by described fishbolt (33) in the horizontal direction with the second intermediate plate (37);
Described first level sensor (10) and described second level sensor (20) are clamped in a described sensor mounting hole (35) respectively by described fishbolt (33).
8. concrete pumping material level safety control according to claim 1, it is characterized in that, described concrete pumping material level safety control also comprises enable switch (70), is connected with described controller (50), for controlling unlatching or the closedown of described controller (50).
9. a concrete pumping equipment, comprise hopper (40) and be arranged on the concrete pumping material level safety control on described hopper (40) inwall, it is characterized in that, described concrete pumping material level safety control is the concrete pumping material level safety control according to any one of claim 1 to 8.
10. a concrete pumping material level method of controlling security, is characterized in that, comprising:
First level sensor (10) is provided, arrives primary importance at material and send the first signal when contacting with described first level sensor (10);
There is provided the second level sensor (20), arrive the second place at material and send secondary signal when contacting with described second level sensor (20), wherein, described primary importance is lower than the described second place;
If current working is starting state and receive described secondary signal, then start pumping; If current working is starting state and do not receive described secondary signal, then do not start pumping.
11. concrete pumping material level method of controlling security according to claim 10, is characterized in that, if described current working is running status, but do not receive described first signal and described secondary signal, then stop pumping.
12. concrete pumping material level method of controlling security according to claim 10, is characterized in that, if described current working is running status, and receive described first signal, then keep pumping.
13. concrete pumping material level method of controlling security according to claim 10, it is characterized in that, described first level sensor (10) with insulation sleeve (12) and steel core (13) is provided, described insulation sleeve (12) is enclosed within described steel core (13), and making the end of described steel core (13) give prominence in the outside of described insulation sleeve (12) to form the first detection head (11), described material contacts with described first detection head (11) thus produces described first signal.
14. concrete pumping material level method of controlling security according to claim 13, is characterized in that, made by described insulation sleeve (12) with ceramic materials.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210584291.4A CN103015724B (en) | 2012-12-28 | 2012-12-28 | Device and method for safely controlling pumping material level of concrete as well as concrete pumping equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210584291.4A CN103015724B (en) | 2012-12-28 | 2012-12-28 | Device and method for safely controlling pumping material level of concrete as well as concrete pumping equipment |
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| CN103015724A CN103015724A (en) | 2013-04-03 |
| CN103015724B true CN103015724B (en) | 2015-04-01 |
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| CN111493791B (en) * | 2020-04-02 | 2021-04-20 | 佛山市顺德区美的洗涤电器制造有限公司 | Control method of home appliance, and computer-readable storage medium |
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| JP2002274653A (en) * | 2001-03-19 | 2002-09-25 | Ishikawajima Constr Mach Co | Concrete amount in hopper indicating device of concrete pump vehicle |
| CN2768699Y (en) * | 2005-02-18 | 2006-04-05 | 孙德修 | Drill bushing fixing device for orthopedics |
| CN101725517A (en) * | 2009-12-21 | 2010-06-09 | 三一重工股份有限公司 | Pump displacement control system, pump displacement control method and concrete pump |
| CN102230336A (en) * | 2011-04-08 | 2011-11-02 | 三一重工股份有限公司 | Collaborative operation system and method, concrete pumping apparatus and agitating truck |
| CN102493649A (en) * | 2011-11-16 | 2012-06-13 | 山推楚天工程机械有限公司 | Pumping feeding matching system |
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2012
- 2012-12-28 CN CN201210584291.4A patent/CN103015724B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002274653A (en) * | 2001-03-19 | 2002-09-25 | Ishikawajima Constr Mach Co | Concrete amount in hopper indicating device of concrete pump vehicle |
| CN2768699Y (en) * | 2005-02-18 | 2006-04-05 | 孙德修 | Drill bushing fixing device for orthopedics |
| CN101725517A (en) * | 2009-12-21 | 2010-06-09 | 三一重工股份有限公司 | Pump displacement control system, pump displacement control method and concrete pump |
| CN102230336A (en) * | 2011-04-08 | 2011-11-02 | 三一重工股份有限公司 | Collaborative operation system and method, concrete pumping apparatus and agitating truck |
| CN102493649A (en) * | 2011-11-16 | 2012-06-13 | 山推楚天工程机械有限公司 | Pumping feeding matching system |
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