CN104847642B - Control method and control device for concrete pumping - Google Patents
Control method and control device for concrete pumping Download PDFInfo
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- CN104847642B CN104847642B CN201410806554.0A CN201410806554A CN104847642B CN 104847642 B CN104847642 B CN 104847642B CN 201410806554 A CN201410806554 A CN 201410806554A CN 104847642 B CN104847642 B CN 104847642B
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Abstract
The invention discloses a control method and a control device for concrete pumping. The control method for concrete pumping includes the steps that after an oil cylinder stroke reaches a first stroke position, the revolving speed of a main pump is maintained, and main pump flow is changed from work flow to first set flow; after the oil cylinder stroke reaches a second stroke position, the main pump flow is changed into second set flow; after a first duration is delayed relative to a sensing moment consumed when the oil cylinder stroke reaches the second stroke position, a swing cylinder reversing instruction is sent out; after a second duration is delayed relative to the sensing moment, the instruction that the main pump is reversed to reverse work flow is sent out, wherein the second duration is larger than the first duration. The control method and the control device for concrete pumping adopt basically same reversing process for different displacement gears, thereby effectively utilizing strokes, improving material suction performance, guaranteeing the pumping stop position of each gear, enabling lubrication to be more sufficient and effectively reducing concrete piston abrasion.
Description
Technical field
The present invention relates to concrete pumping technique field, more particularly to a kind of concrete pumping control method and control dress
Put.
Background technology
In the prior art, the reversing mode of concrete pumping equipment has two kinds, and a kind of is liquid controlled reversing mode, another kind of
For electric control reversing mode.
Liquid controlled reversing mode relies on hydraulic pressure signal to be controlled and commutates.Hydraulic pressure reversing mode requires relatively to hydraulic system
Height, and there is the easily interior defect let out and disorderly commutate, stroke is not readily available guarantee.
Electric control reversing mode is generally commutated using proximity switch.In end of travel, by the use of two inductive switches as
Signal is commutated.As shown in figure 1, when the piston of right master cylinder 12 reaches oil cylinder bottom (rightmost side), on right conveying cylinder 11
The second inductance loop b1 make second inductive switch b sensing, controller (not shown) receive this signal send commutation instruction.Right main oil
The piston of the piston driving right conveying cylinder 11 of cylinder 12 is away from toward the motion of hopper 9 direction.Meanwhile, left master cylinder 1 drives a left side defeated
Cylinder 3 is sent to turn left side shifting.The first inductance loop a1 when left master cylinder 1 moves to oil cylinder bottom (rightmost side), on left conveying cylinder 3
Make the first inductive switch a sensing, controller sends commutation signal again.Right master cylinder 12 starts action of turning right, and moves in circles.
In whole pumping procedure, the signal processing of different gears (1-10 shelves) is all using above-mentioned pattern.
There are following problems and disadvantages in prior art.Topmost problem is that concrete cylinder operation mileage rate is low.Because master cylinder delays
The size rushing distance is not hit cylinder with the pumping of highest discharge capacity gear to determine for principle, so under low and middle-grade positions pumping operating mode,
Main oil cylinder piston bar can not run to bottom, always have one section of idle stroke not utilize, and gear more low latitude stroke is bigger, reduces
Suction efficiency, reduction amplitude maximum reaches 6.5%.Different displacements down stroke conformity error is big, and excessive stroke variable quantity is (
Greatly more than 50mm), also have a strong impact on concrete piston lubricating effect.And in the prior art, do not think over tilt cylinder and master
The commutation sequential of cylinder is so that in pumping commutation, the concrete of suitable capacity is returned hopper, and low and middle-grade positions also exist more serious
Back suction phenomenon, significantly reduce suction efficiency.
It is desirable to having a kind of concrete pumping control method and control device to overcome or at least to mitigate prior art
One or more of drawbacks described above.
Content of the invention
It is an object of the invention to provide a kind of one of drawbacks described above to overcome or at least to mitigate prior art or
Multiple.
For achieving the above object, the present invention provides a kind of concrete pumping control method, described concrete pumping controlling party
Method includes:
Detection the first travel position of oil cylinder stroke end segment and the second travel position, wherein, the second travel position compares the
One stroke position is more nearly oil cylinder stroke end；
After the first sensing moment that oil cylinder stroke reaches the first travel position, keep the rotating speed of main pump, and by main pump stream
Amount is changed to the first setting flow from working flow；
After the second sensing moment that oil cylinder stroke reaches the second travel position, keep the rotating speed of main pump, and by main pump stream
Amount is changed to the second setting flow from the first setting flow, and wherein second sets flow is less than the first setting flow；
Postpone after the first duration with respect to the second sensing moment, send tilt cylinder commutation instruction；And
Postpone, after the second duration, to send the instruction that main pump commutates to reverse operation flow with respect to the second sensing moment, its
In the second duration be more than the first duration.
Preferably, first set flow in the range of the 40% to 60% of main pump maximum stream flow.
Preferably, second set flow in the range of the 10% to 30% of main pump maximum stream flow.
Preferably, described first duration is in the range of 10 milliseconds to 15 milliseconds.
Preferably, described second duration is in the range of 200 milliseconds to 250 milliseconds.
Preferably, the distance of described first travel position and oil cylinder stroke end is in 200 millimeters to 300 millimeters of scope
Interior.
Preferably, described second travel position and the distance of oil cylinder stroke end are in the range of 50 millimeters to 80 millimeters.
Preferably, cylinder piston rod is positioned proximate to switch, at the first travel position and the second travel position respectively
First inductance loop and the second inductance loop are set.
The present invention also provides a kind of concrete pumping control device, and described concrete pumping control device includes: sensing dress
Put, it senses the first travel position of oil cylinder stroke end segment and the second travel position, and wherein, the second travel position compares the first row
Journey position is more nearly oil cylinder stroke end；Control device, it, after the first sensing moment sensing the first travel position, is protected
Hold the rotating speed of main pump, and the change of main pump flow is changed to the first setting flow from working flow；Sense in proximity switch
After the second sensing moment of two travel position, keep the rotating speed of main pump, and main pump flow is changed to the from the first setting flow
Two setting flows, wherein second sets flow is less than the first setting flow；Postpone after the first duration with respect to the second sensing moment,
Send tilt cylinder commutation instruction and oil cylinder commutation instruction；And postpone, after the second duration, to send main pump with respect to the second sensing moment
Commutate to the instruction of reverse operation flow, the wherein second duration is more than the first duration.
Preferably, described induction installation includes: proximity switch, it is fixedly installed；First inductance loop, it is arranged on oil cylinder and lives
On stopper rod, and the first travel position of the end of travel section of corresponding cylinder piston rod；And second inductance loop, it is arranged on oil cylinder
On piston rod, and the second travel position of the end of travel section of corresponding cylinder piston rod.
Preferably, described induction installation includes: inductance loop, and it is arranged on cylinder piston rod, the first proximity switch, and it is solid
Fixed setting, and the first travel position of the end of travel section of corresponding cylinder piston rod；And second proximity switch, its fixation sets
Put, and the second travel position of the end of travel section of corresponding cylinder piston rod.
The concrete pumping control method of the present invention and control device are changed using essentially identical for different displacements gear
To process such that it is able to be effectively utilized stroke, improve suction.And ensure that each gear termination of pumping position so that
Lubrication is more abundant, can effectively reduce concrete piston wear.
Brief description
Fig. 1 is the schematic diagram of the concrete pumping control device of prior art.
Fig. 2 is the discharge capacity-time graph schematic diagram of concrete pumping control method according to an embodiment of the invention.
Fig. 3 is the schematic diagram of concrete pumping control device according to an embodiment of the invention.
Reference:
| 1 | Left master cylinder | 11 | Right conveying cylinder |
| 2 | Tank | 12 | Right master cylinder |
| 3 | Left conveying cylinder | a | First inductive switch |
| 4 | Left swing cylinder | b | Second inductive switch |
| 5 | Stirring system | a1 | First inductance loop |
| 6 | Delivery pipe | a2 | 3rd inductance loop |
| 7 | Discharging opening | b1 | Second inductance loop |
| 8 | S pipe valve | b2 | 4th inductance loop |
| 9 | Hopper | ||
| 10 | Right tilt cylinder |
Specific embodiment
For making purpose, technical scheme and advantage that the present invention is implemented clearer, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is further described in more detail.In the accompanying drawings, identical from start to finish or class
As the label element that represents same or similar element or there is same or like function.Described embodiment is the present invention
A part of embodiment, rather than whole embodiments.Embodiment below with reference to Description of Drawings is exemplary it is intended to use
In the explanation present invention, and it is not considered as limiting the invention.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under the premise of not making creative work, broadly falls into the scope of protection of the invention.Under
Face combines accompanying drawing and embodiments of the invention is described in detail.
In describing the invention it is to be understood that term " " center ", " longitudinal ", " horizontal ", "front", "rear",
The orientation of instruction such as "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward " or position relationship are based on accompanying drawing institute
The orientation showing or position relationship, are for only for ease of the description present invention and simplify description, rather than the dress of instruction or hint indication
Put or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that protecting to the present invention
The restriction of scope.
Included according to the solidifying soil pumping control method of the present invention: first travel position and the of detection oil cylinder stroke end segment
Two travel position, wherein, the second travel position is more nearly oil cylinder stroke end than the first travel position；Reach in oil cylinder stroke
After the first sensing moment of the first travel position, keep the rotating speed of main pump, and main pump flow is changed to first from working flow
Set flow；After the second sensing moment that oil cylinder stroke reaches the second travel position, keep the rotating speed of main pump, and by main pump stream
Amount is changed to the second setting flow from the first setting flow, and wherein second sets flow is less than the first setting flow；With respect to
After two sensing moment postponed the first duration, send tilt cylinder commutation instruction；And postpone the second duration with respect to the second sensing moment
Afterwards, send the instruction that main pump commutates to reverse operation flow, the wherein second duration is more than the first duration.
The present invention also provides a kind of concrete pumping control device, and described concrete pumping control device includes: sensing dress
Put, it senses the first travel position of oil cylinder stroke end segment and the second travel position, and wherein, the second travel position compares the first row
Journey position is more nearly oil cylinder stroke end；Control device, it, after the first sensing moment sensing the first travel position, is protected
Hold the rotating speed of main pump, and the change of main pump flow is changed to the first setting flow from working flow；Sense in proximity switch
After the second sensing moment of two travel position, keep the rotating speed of main pump, and main pump flow is changed to the from the first setting flow
Two setting flows, wherein second sets flow is less than the first setting flow；Postpone after the first duration with respect to the second sensing moment,
Send tilt cylinder commutation instruction and oil cylinder commutation instruction；And postpone, after the second duration, to send main pump with respect to the second sensing moment
Commutate to the instruction of reverse operation flow, the wherein second duration is more than the first duration.
The concrete pumping control method of the present invention and control device are changed using essentially identical for different displacements gear
To process such that it is able to be effectively utilized stroke, improve suction.And ensure that each gear termination of pumping position so that
Lubrication is more abundant, can effectively reduce concrete piston wear.
Fig. 3 is the schematic diagram of concrete pumping control device according to an embodiment of the invention.Figure 3 illustrates: left
Master cylinder 1, tank 2, left conveying cylinder 3, left swing cylinder 4, stirring system 5, delivery pipe 6, discharging opening 7, s pipe valve 8, hopper 9, right tilt cylinder
10 and right conveying cylinder 11, right master cylinder 12, the first inductive switch a, the second inductive switch b, the first inductance loop a1, the 3rd inductance loop
A2, the second inductance loop b1, the 4th inductance loop b2.It is pointed out that the first inductive switch a, the second inductive switch b, the first sense
Answer ring a1, the 3rd inductance loop a2, the second inductance loop b1, the position of the 4th inductance loop b2 to be schematic, can set as needed
Put, as long as the first travel position and second travel position of left and right master cylinder end of travel section can be detected.For example, exist
In one embodiment, the first inductive switch a, the second inductive switch b are fixedly installed, inductance loop are fixed with respect to piston, makes
With piston movement.In another embodiment, inductance loop is fixedly installed, and the first inductive switch a, the second inductive switch b
To fix with respect to piston, be allowed to piston movement.
Fig. 3 and Fig. 1 differs primarily in that, the concrete pumping control device of Fig. 3 arranges two for each conveying cylinder
Inductance loop, for detecting two travel position of oil cylinder stroke end segment: the first travel position and the second travel position.Wherein,
Second travel position is more nearly oil cylinder stroke end than the first travel position.
Specifically, for left master cylinder 1 and left conveying cylinder 3 setting the first inductance loop a1 and the 3rd inductance loop a2, for the right side
Master cylinder 12 and right conveying cylinder 11 setting the second inductance loop b1 and the 4th inductance loop b2.
Preferably, the distance of described first travel position and oil cylinder stroke end is in 200 millimeters to 300 millimeters of scope
Interior.It is further preferred that the distance of described second travel position and oil cylinder stroke end is in the range of 50 millimeters to 80 millimeters.
Thus, it is possible to fully be formed using oil cylinder, and can preferably prevent from clashing into oil cylinder bottom.
Fig. 2 is the discharge capacity-time graph schematic diagram of concrete pumping control method according to an embodiment of the invention.As figure
Shown in 2, corresponding to various different discharge capacities, (such as five curves s1, s2, s3, s4 and s5 correspond respectively to main pump maximum stream flow
80%, 60%, 50%, 40% and 30%), using identical control mode.
Specifically, reach the first sensing moment (t1) of the first travel position in oil cylinder stroke after, keep the rotating speed of main pump,
And main pump flow is changed to the first setting flow (the 50% of main pump maximum stream flow) from working flow.It is understood that should
Discharge capacity change is even more realized in a short period of time.Reach the second sensing moment (t2) of the second travel position in oil cylinder stroke
Afterwards, keep the rotating speed of main pump, and main pump flow is changed to from the first setting flow (the 50% of main pump maximum stream flow) less
Second sets flow (the 20% of main pump maximum stream flow).Then, postpone, after the first duration, to send with respect to the second sensing moment t1
Tilt cylinder commutation instruction；And postpone, after the second duration, to send main pump and commutate to reverse operation stream with respect to the second sensing moment t1
The instruction (the t3 moment corresponding in Fig. 3) of amount, the wherein second duration is more than the first duration.Thus complete to commutate.
That is, the method for the present invention is sensed by stroke, master cylinder is carried out with constant speed, fixed point commutation control, realizes
Zero load, underloading, commutation stroke is consistent under severe duty.
First setting flow can be arranged as required to it is advantageous in main pump maximum stream flow 40% to 60% model
Enclose interior setting, preferably the 50% of main pump maximum stream flow.So as to keep moderate flow in commutation process, make full use of
Oil cylinder stroke.
Second setting flow can be arranged as required to it is advantageous to second sets flow in main pump maximum stream flow
In the range of 10% to 30%, preferably main pump maximum stream flow 20%.So that impact during commutation is less.
Preferably, described first duration is in the range of 10 milliseconds to 15 milliseconds.Thus, it is possible to preferably respond with tilt cylinder
Time coordination, prevents or at least reduces the generation of concrete back suction.Preferably, described second duration is at 200 milliseconds to 250 milliseconds
In the range of.Thus select the main oil cylinder piston bar operating rate before rational commutation, shorten master cylinder two ends buffer length, fill
Divide using the whole stroke of master cylinder and commutation front travel.
In one embodiment, cylinder piston rod is positioned proximate to switch, and in corresponding first travel position and the
First inductance loop and second inductance loop are fixedly installed at two travel position.
In another embodiment, for each master cylinder, induction installation includes an inductance loop and two proximity switches.Sense
Ying Huan is arranged on cylinder piston rod；First proximity switch is fixedly installed, and the of the end of travel section of corresponding cylinder piston rod
One stroke position；Second proximity switch is fixedly installed, and the second travel position of the end of travel section of corresponding cylinder piston rod.
The present invention can accurately utilize the response time of each related elements of commutation process, when carrying out lead to commutation process
Sequence controls；Main oil cylinder piston bar operating rate before can selecting reasonably to commutate, shortens master cylinder two ends buffer length, fully
Using the whole stroke of master cylinder.
Finally it is noted that above example, only in order to technical scheme to be described, is not intended to limit.To the greatest extent
Pipe has been described in detail to the present invention with reference to the foregoing embodiments, it will be understood by those within the art that: it is still
Technical scheme described in foregoing embodiments can be modified, or wherein some technical characteristics are carried out with equivalent replacing
Change；And these modifications or replacement, do not make the essence of appropriate technical solution depart from the essence of various embodiments of the present invention technical scheme
God and scope.
Claims (11)
1. a kind of concrete pumping control method is it is characterised in that include:
First travel position of detection oil cylinder stroke end segment and the second travel position, wherein, the second travel position compares the first row
Journey position is more nearly oil cylinder stroke end；
After the first sensing moment that oil cylinder stroke reaches the first travel position, keep the rotating speed of main pump, and different displacements are kept off
The main pump flow of position is changed to the first setting flow from working flow；
Oil cylinder stroke reach the second travel position second sensing the moment after, keep main pump rotating speed, and by main pump flow from
First setting flow is changed to the second setting flow, and wherein second sets flow is less than the first setting flow；
Postpone after the first duration with respect to the second sensing moment, send tilt cylinder commutation instruction；And
Postpone, after the second duration, to send the instruction that main pump commutates to reverse operation flow with respect to the second sensing moment, wherein the
Two durations are more than the first duration.
2. concrete pumping control method as claimed in claim 1 is it is characterised in that first sets flow in main pump max-flow
In the range of the 40% to 60% of amount.
3. concrete pumping control method as claimed in claim 1 is it is characterised in that second sets flow in main pump max-flow
In the range of the 10% to 30% of amount.
4. concrete pumping control method as claimed in claim 1 is it is characterised in that described first duration is at 10 milliseconds to 15
In the range of millisecond.
5. concrete pumping control method as claimed in claim 1 it is characterised in that described second duration at 200 milliseconds extremely
In the range of 250 milliseconds.
6. concrete pumping control method as claimed in claim 1 is it is characterised in that described first travel position and oil cylinder row
The distance of journey end is in the range of 200 millimeters to 300 millimeters.
7. concrete pumping control method as claimed in claim 1 is it is characterised in that described second travel position and oil cylinder row
The distance of journey end is in the range of 50 millimeters to 80 millimeters.
8. concrete pumping control method as claimed in claim 1 is it is characterised in that be positioned proximate to out on cylinder piston rod
Close, be respectively provided with the first inductance loop and the second inductance loop at the first travel position and the second travel position.
9. a kind of concrete pumping control device is it is characterised in that include:
Induction installation, the first travel position of its detection oil cylinder stroke end segment and the second travel position, wherein, the second stroke position
Put and be more nearly oil cylinder stroke end than the first travel position；
Control device, it, after the first sensing moment sensing the first travel position, keeps the rotating speed of main pump, and arranges different
The main pump flow change of amount gear is changed to the first setting flow from working flow；
After the second sensing moment that proximity switch senses the second travel position, keep the rotating speed of main pump, and by main pump flow
It is changed to the second setting flow from the first setting flow, wherein second sets flow is less than the first setting flow；
Postpone after the first duration with respect to the second sensing moment, send tilt cylinder commutation instruction and oil cylinder commutation instruction；And
Postpone, after the second duration, to send the instruction that main pump commutates to reverse operation flow with respect to the second sensing moment, wherein the
Two durations are more than the first duration.
10. concrete pumping control device as claimed in claim 9 is it is characterised in that described induction installation includes:
Proximity switch, it is fixedly installed；
First inductance loop, it is arranged on cylinder piston rod, and the first stroke position of the end of travel section of corresponding cylinder piston rod
Put；And
Second inductance loop, it is arranged on cylinder piston rod, and the second stroke position of the end of travel section of corresponding cylinder piston rod
Put.
11. concrete pumping control devices as claimed in claim 9 are it is characterised in that described induction installation includes:
Inductance loop, it is arranged on cylinder piston rod,
First proximity switch, it is fixedly installed, and the first travel position of the end of travel section of corresponding cylinder piston rod；And
Second proximity switch, it is fixedly installed, and the second travel position of the end of travel section of corresponding cylinder piston rod.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410806554.0A CN104847642B (en) | 2014-12-22 | 2014-12-22 | Control method and control device for concrete pumping |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410806554.0A CN104847642B (en) | 2014-12-22 | 2014-12-22 | Control method and control device for concrete pumping |
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| CN104847642B true CN104847642B (en) | 2017-02-01 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108005891A (en) * | 2018-01-15 | 2018-05-08 | 长沙紫宸科技开发有限公司 | A kind of sludge pumping device electric autocontrol system |
| CN108762319B (en) * | 2018-05-24 | 2021-06-25 | 北京朝阳高科应用技术研究所有限公司 | Weighing quantitative pumping device for gasoline engine intake valve deposit simulation testing machine |
| CN109058085B (en) * | 2018-07-17 | 2020-06-12 | 三一汽车制造有限公司 | Pumping system control method and control device |
| CN110529356A (en) * | 2019-09-18 | 2019-12-03 | 徐州徐工施维英机械有限公司 | Concrete pumping equipment pumping control system and method |
| CN111391123B (en) * | 2020-03-20 | 2022-01-25 | 三一汽车制造有限公司 | Stirring system, concrete pumping system, control method of concrete pumping system and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH1182312A (en) * | 1997-09-12 | 1999-03-26 | Furukawa Co Ltd | Hydraulically driven piston pump |
| CN101793247A (en) * | 2009-01-20 | 2010-08-04 | 徐工集团工程机械股份有限公司建设机械分公司 | Concrete pump truck and concrete delivery pump exchange system |
| CN101984255A (en) * | 2010-10-11 | 2011-03-09 | 秦月明 | Electric-hydraulic control system applied in concrete or coal slurry conveying device and method for controlling system |
| CN202031798U (en) * | 2011-04-13 | 2011-11-09 | 北汽福田汽车股份有限公司 | Concrete pumping system |
| CN103410695B (en) * | 2012-06-08 | 2015-05-20 | 北汽福田汽车股份有限公司 | Pumping mechanism and pump truck provided with same |
| CN102777364B (en) * | 2012-08-02 | 2013-10-23 | 中联重科股份有限公司 | Pumping mechanism and control method thereof as well as concrete pumping equipment |
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Effective date of registration: 20200927 Address after: No.202 Xuanfu street, Xuanhua District, Zhangjiakou, Hebei Province Patentee after: Hebei Leisa Heavy Construction Machinery Co., Ltd Address before: 102206 Changping District City, Shahe, Sha Yang Road, Beijing Patentee before: BEIQI FOTON MOTOR Co.,Ltd. |