CN105626500A - Material conveying control apparatus, system, method and engineering machine - Google Patents
Material conveying control apparatus, system, method and engineering machine Download PDFInfo
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- CN105626500A CN105626500A CN201410581419.0A CN201410581419A CN105626500A CN 105626500 A CN105626500 A CN 105626500A CN 201410581419 A CN201410581419 A CN 201410581419A CN 105626500 A CN105626500 A CN 105626500A
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Abstract
The invention discloses a material conveying control apparatus, system, method and an engineering machine, wherein the apparatus controls the pumping speed of a hydraulic oil cylinder by controlling the opening degree of a hydraulic oil pump and a pumping valve block so as to convey the material at the pumping speed; the apparatus also comprises a reception apparatus that receives material characteristic data of the material; and a control apparatus that controls a pumping acceleration for conveying the material by phases according to the material characteristic data when the hydraulic oil cylinder is first started. The conveying speed for conveying the material is controlled by phases based on the difference of the material characteristic, therefore, the problem of pipeline obstruction caused by rapid material conveying resistance rise in a pipeline because the pumping acceleration is overlarge the moment the pump is started is solved; and, material conveying resistance can be reduced; the material can be conveyed smoothly; and the probability that the pressure impact exceeds a limit value is reduced.
Description
Technical field
The present invention relates to the technology pushing material, in particular it relates to a kind of material conveying control equipment, system, method and engineering machinery.
Background technology
At present, main material transfer equipment is concrete pump (a kind of hydraulic oil pump), and its principle is to control material toggle speed in concrete cylinder by the starting loop of adjustment hydraulic jack.
Fig. 1 is the concrete pump pumping theory figure that prior art provides, as shown in Figure 1, controller 1 controls the output flow of hydraulic oil pump 2 and the aperture of pumping valve group 6, and then the rate of pumping of control hydraulic jack 3,4, to promote material to move through the output of conveyance conduit (not shown) in hopper 5. The acceleration started by adjustment hydraulic jack 3,4, stopped can realize regulating the movement velocity of material during initial start, material vibration to the impact of system and when reducing pumping during in order to eliminate hydraulic jack initial start, prior art usually adopts the regulative mode shown in Fig. 2 to control acceleration during hydraulic jack initial start. In fig. 2, abscissa is time t, and vertical coordinate is the pumping acceleration (namely slope is variable) that the regulative mode shown in rate of pumping v, Fig. 2 of hydraulic jack 3,4 can regulate hydraulic jack 3,4.
Above regulative mode there is problems in that and directly accelerates to reach target rate of pumping a pump cycles, if target rate of pumping is too fast, then the starting loop of hydraulic jack 3,4 also can be relatively big, is otherwise unable to reach target rate of pumping. If the starting loop too conference at initial starting phase hydraulic jack 3,4 causes conveying, pipe resistance increases, it is likely to cause and pushes the maximum thrust that resistance can provide more than pumping system, thus causing conveyance conduit to block, and, due at initial starting phase, material lubrication (e.g., concrete lubricate) is had not yet been formed, and pumping resistance also can be very big.
Summary of the invention
It is an object of the invention to provide a kind of material conveying control equipment, system, method and engineering machinery, for solving the problem that during hydraulic jack initial start-up, conveyance conduit blocks and pumping resistance is big.
To achieve these goals, the invention provides a kind of material conveying control equipment, this equipment controls the rate of pumping of hydraulic jack by controlling the aperture of hydraulic oil pump and pumping valve group, thus pumping described material with this rate of pumping, this equipment also includes: receives device, receives the material characteristic data of described material; Control device, when initial start-up hydraulic jack, carry out control by stages according to described material characteristic data and pump the pumping acceleration of described material.
Correspondingly, present invention also offers a kind of material conveying control system, this system includes: material conveying control equipment in accordance with the above; And pressure transducer, for detecting the pumping pressure of described hydraulic oil pump.
Correspondingly, present invention also offers a kind of engineering machinery, including above-described material conveying control system.
Correspondingly, present invention also offers a kind of material conveyance control method, controlled the rate of pumping of hydraulic jack by the aperture of hydraulic oil pump and pumping valve group, thus pumping described material with this rate of pumping, the method also includes: receive the material characteristic data of described material; When initial start-up hydraulic jack, carry out control by stages according to described material characteristic data and pump the pumping acceleration of described material.
Pass through technique scheme, the present invention by carrying out the rate of pumping of Discrete control pumping material according to the difference of material characteristic, it can be avoided that steeply rise and the phenomenon of line clogging that occurs because opening the pump moment pumping excessive material transporting resistance caused in pipeline of acceleration, and the transporting resistance of material can be reduced, be conducive to the conveying of material, reduce and occur that compression shock exceedes the probability of limit value.
Other features and advantages of the present invention will be described in detail in detailed description of the invention part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and constitutes the part of description, is used for explaining the present invention, but is not intended that limitation of the present invention together with detailed description below. In the accompanying drawings:
Fig. 1 is the concrete pump pumping theory figure that prior art provides;
Fig. 2 is the curve of the rate of pumping that prior art provides;
Fig. 3 is the block diagram of material provided by the invention conveying control equipment;
Fig. 4 is the time dependent curve of rate of pumping of hydraulic jack provided by the invention;
Fig. 5 is the block diagram of material conveying control system provided by the invention;
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail. It should be appreciated that detailed description of the invention described herein is merely to illustrate and explains the present invention, it is not limited to the present invention.
Fig. 3 is the block diagram of material provided by the invention conveying control equipment, as it is shown on figure 3, this material conveying control equipment 10 includes receiving device 101 and controlling device 102. This equipment 10 controls the rate of pumping of hydraulic jack by controlling the aperture of hydraulic oil pump and pumping valve group, thus pumping material with this rate of pumping. Control device 101 and receive the material characteristic data of material, control device 102 when initial start-up hydraulic jack, carry out the pumping acceleration of control by stages pumping material according to the material characteristic data received. Wherein material characteristic data can be obtained by input equipment.
Initial start-up hydraulic jack as described herein refers to that after opening pumping system power supply, first time starts hydraulic jack or starts hydraulic jack for the first time after material a period of time. When due to initial start-up hydraulic jack, material in conveying pipe is uneven, under identical rate of pumping, transporting resistance is bigger, easily there is the compression shock situation even more than pressure limit in conveying pipe, so the pumping acceleration that the application pumps material by control by stages solves this problem.
First above material characteristic data include pumped medium, such as water, concrete, slag etc., secondly the material characteristic data for the material such as concrete, slag can further include characterisitic parameter, and this characterisitic parameter can be one or more in making raw material, slump etc. Such as, if concrete, its characterisitic parameter can also include one or more in making raw material (different regions manufacture the raw material difference that concrete adopts), slump, concrete grade etc.
Telescopic process of hydraulic jack is a pump cycles, control by stages described above is just directly to accelerate to target rate of pumping relative to first pump cycles when initial start-up hydraulic jack in prior art, control by stages in technical scheme provided by the invention refer to when initial start-up hydraulic jack initial several (such as, can be two or more) ladder incrementally arranges different phased goal rate of pumpings in pump cycles, progressively to make rate of pumping be promoted to final goal rate of pumping (i.e. target rate of pumping described above). including it is to say, control device 102 control by stages pumping acceleration: each stage in multiple stages adopts different pumping acceleration, the pumping acceleration of the latter half is more than the pumping acceleration of previous stage, and each stage is a pump cycles.
Receive device 101 to be additionally operable to receive target rate of pumping v0, control device 102 and first determine pumping acceleration set a according to the material characteristic data received11(t)��a1nT (), chooses the pumping acceleration a in each stage in multiple stage further according to the target rate of pumping received from pumping acceleration set1i(t). It will be appreciated by those skilled in the art that controlling device 102 can also directly obtain the pumping acceleration in each stage according to both material characteristic data and target rate of pumping. More than pumping acceleration set is stored in advance in data base, this data base also stored for the corresponding relation of material characteristic data and pumping acceleration set and target rate of pumping and the corresponding relation of each pumping acceleration in acceleration set, as table 1 illustrates the corresponding relation example of pumping acceleration and material characteristic data.
Table 1 pumps acceleration correspondence and represents example
| Pumped medium | Characterisitic parameter | Pumping acceleration set |
| Concrete | Label | a11(t)��a1n(t) |
| Water | �� | a21(t)��a2n(t) |
| Slag | �� | a31(t)��a3n(t) |
| �� | �� |
(choose at the pumping acceleration obtaining target rate of pumping and each stage and obtain several pumping acceleration, just illustrate to need to be divided into several stage) after, such as obtain N number of pumping acceleration as chosen, then when multiple stages are N number of stage, control device 102 control by stages rate of pumping to include: in the first stage, control device 102 and control the rate of pumping of hydraulic jack with the first pumping acceleration increase to the first rate of pumping; In the i-th stage, control device 102 and control the rate of pumping of hydraulic jack with the i-th pumping acceleration increase to the i-th rate of pumping, wherein, 2��i��N, and i, N be integer, the i-th-1 pumping acceleration < the i-th pumping acceleration, and in the N stage, N rate of pumping is target rate of pumping.
Specifically, for instance N=3, the pumping acceleration respectively a in 3 stages obtained is chosen11(t)��a12(t)��a13T (), then the step controlling device 102 control by stages rate of pumping is as follows: in the first stage, controls device 102 and controls the rate of pumping of hydraulic jack with the first pumping acceleration a11T () increases to the first rate of pumping; In second stage, control device 102 and control the rate of pumping of hydraulic jack with the second pumping acceleration a12T () increases to the second rate of pumping; In the phase III, control device 102 and control the rate of pumping of hydraulic jack with the 3rd pumping acceleration a13T () increases to the 3rd rate of pumping, the 3rd rate of pumping is target rate of pumping.
Still for N=3, the 3rd rate of pumping is target rate of pumping v0, the first rate of pumping can be v0/ 3, the second rate of pumping can be 2v0/ 3, when determine the first of this N number of stage to N rate of pumping, it is possible to obtain corresponding first to N pumping acceleration by the corresponding relation of storage in data base. But, under preferable case, first meets the following conditions to N rate of pumping: (i-th-1 rate of pumping the-the i-th-2 rate of pumping) < (i-th rate of pumping the-the i-th-1 rate of pumping), for N=3, it is exactly specifically, and (second rate of pumping the-the first rate of pumping) < (the 3rd rate of pumping the-the second rate of pumping), namely the difference of the rate of pumping between the latter half and previous stage is incremented by over time, such as, the first rate of pumping can be v0/ 6, the second rate of pumping can be 3v0/ 6. Adopt is to prevent from starting the hydraulic jack initial stage owing to being formed without concrete lubrication and the problem that causes resistance excessive in this way.
By with upper type, the rate of pumping at hydraulic oil pump can reach target rate of pumping v0Afterwards, in each pump cycles later, the rate of pumping of hydraulic jack increases to target rate of pumping with maximum pumping acceleration. Here the maximum pumping acceleration that in the maximum normal pump cycles of pumping acceleration (namely after multiple stages that above initial start-up hydraulic jack experiences), hydraulic jack can reach, this maximum pumping acceleration > N pumps acceleration, and namely maximum pumping acceleration is more than the pumping acceleration in any one stage in N number of stage.
Fig. 4 is the time dependent curve of rate of pumping of hydraulic jack provided by the invention, as shown in Figure 4, in pumping accelerator 401, the rate of pumping of hydraulic jack divides three phases to increase step by step, pumping acceleration is increasing, and in the 3rd pump cycles, rate of pumping can reach target rate of pumping, and in normal pump cycles 402 later, the rate of pumping of hydraulic jack increases to target rate of pumping with maximum pumping acceleration. Fig. 4 only illustrates the change curve of the rate of pumping of initial start-up hydraulic jack in an illustrative manner, and the scope of the present invention is not limited to this, for instance, accelerator can be divided into three phases as shown in Figure 4, it is also possible to is divided into two stages or four-stages etc.
In addition, in order to ensure that material pumping pressure in conveying pipe is within normal range, receive device 101 and can also receive the pumping pressure of hydraulic oil pump, when the pumping pressure received is more than pumping pressure threshold value set in advance, controls device 102 and control the pumping acceleration of hydraulic oil pump lower than the pumping acceleration controlling this next stage that device 102 has been chosen in next stage. Specifically, it is possible to increase the quantity in set multiple stages and reset the pumping acceleration in each stage started from next stage. For example, when N=3, if carrying out process occurring pumping pressure more than pumping pressure threshold value set in advance in the first stage, remaining two stages (second stage and phase III) then can be further subdivided into three phases again (certainly, it is not limited to the quantity in stage, but in this case, at least three phases should be divided), and reset the pumping acceleration of each stage (here for three phases).
Can carry out in the following manner for the resetting of acceleration of pumping passed through when repartitioning each stage obtained and terminate: equalization divides the rate of pumping that each stage started from next stage to reach equally, so that often difference between adjacent two stages is equal the rate of pumping to reach of each stage started from next stage; The rate of pumping reached according to obtained each stage started from next stage calculates the pumping acceleration in each stage obtaining starting from next stage. Specifically, first in the way of equalization is divided equally, repartition, according to reached rate of pumping and target rate of pumping, the rate of pumping that each stage to reach, obtain the pumping acceleration in each stage repartitioned in the rate of pumping calculating reached according to each stage repartitioned. For example, when N=3, the rate of pumping reached in the first stage is the first rate of pumping v1, the rate of pumping reached in second stage is the second rate of pumping v2, the rate of pumping reached in the phase III is the 3rd rate of pumping v3, v3Being target rate of pumping, if carrying out occurring pumping pressure in process more than pumping pressure threshold value set in advance in the first stage, then controlling device 102 will change the rate of pumping in point each stage again. Such as remaining two stages can be reclassified as three phases, total four-stage (including the first stage being complete) after namely repartitioning, and according to the first rate of pumping v1With target rate of pumping v3Calculating the rate of pumping obtaining repartitioning the three phases obtained, the rate of pumping that the second to fourth stage after repartitioning to reach respectively can be v1+(v3-v1)/3��v1+2(v3-v1)/3��v3(rate of pumping in each stage namely repartitioned in the way of equalization is divided equally), owing to the stroke of hydraulic jack is fixing, so when determining the rate of pumping that the second to fourth stage after repartitioning to reach, the pumping acceleration of the second to fourth stage after repartitioning also just can calculate and obtain. Certainly, skilled artisan would appreciate that the target rate of pumping that can also repartition each stage otherwise, for instance, for above-mentioned, it is possible to the rate of pumping that second and the phase III after repartitioning to reach is reduced a fixed value.
Obviously, the pumping acceleration that the pumping acceleration ratio in each stage after repartitioning is chosen first is low. In this way, it is possible to reduce material transporting resistance in conveying pipe, keep pumping pressure within normal range, it is to avoid accelerator causing because the movement velocity of material is too fast, conveying material is in the plugging carrying Bottomhole pressure resistance to uprush and to cause.
Fig. 5 is the block diagram of material conveying control system provided by the invention, as it is shown in figure 5, this system includes material described above conveying control equipment 10, also includes pressure transducer 20, and this pressure transducer 20 is for detecting the pumping pressure of hydraulic oil pump.
Correspondingly, present invention also offers a kind of engineering machinery, including above-described material conveying control system.
Correspondingly, present invention also offers a kind of material conveyance control method, controlled the rate of pumping of hydraulic jack by the aperture of hydraulic oil pump and pumping valve group, thus pumping material with this rate of pumping, the method includes: receive the material characteristic data of material; When initial start-up hydraulic jack, carry out the pumping acceleration of control by stages pumping material according to material characteristic data.
It should be noted that the detail of material conveyance control method provided by the invention and benefit carry control equipment similar with material provided by the invention, in this, it will not go into details.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing; but; the present invention is not limited to the detail in above-mentioned embodiment; in the technology concept of the present invention; technical scheme can being carried out multiple simple variant, these simple variant belong to protection scope of the present invention.
By technical scheme provided by the invention, have the advantages that 1, adopt time dependent starting loop when initial start-up hydraulic jack, avoid because initial start-up moment that to pump acceleration excessive and make the rate of pumping of correspondence excessive, it is to avoid cause in conveying pipe that material transporting resistance steeply rises the pumping pressure caused and exceedes limit value the phenomenon of conveying blockage even occurs; 2, compared with the target rate of pumping in normal pump cycles, need the rate of pumping reached less set by several pump cycles of initial start-up hydraulic jack, thus carrying the transporting resistance of material in pipe little, this is conducive to the conveying of material, reduces the probability occurring that pumping pressure exceedes limit value; 3, can reach in the normal pump cycles after target rate of pumping at repeatedly acceleration, rate of pumping, maximum pumping acceleration is adopted to pump, improve the rate of pumping in normal pumping situation to greatest extent, improve the average rate of pumping in normal pump cycles, and substantially increase pumping efficiency and pump-conveying property.
It is further to note that each the concrete technical characteristic described in above-mentioned detailed description of the invention, in reconcilable situation, it is possible to be combined by any suitable mode. In order to avoid unnecessary repetition, various possible compound modes are no longer illustrated by the present invention separately.
Additionally, can also carry out combination in any between the various different embodiment of the present invention, as long as it is without prejudice to the thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (22)
1. a material conveying control equipment, this equipment controls the rate of pumping of hydraulic jack by controlling the aperture of hydraulic oil pump and pumping valve group, thus pumping described material with this rate of pumping, it is characterised in that this equipment also includes:
Receive device, receive the material characteristic data of described material;
Control device, when initial start-up hydraulic jack, carry out control by stages according to described material characteristic data and pump the pumping acceleration of described material.
2. equipment according to claim 1, it is characterised in that pump acceleration described in described control device control by stages and include:
Each stage in multiple stages adopts different pumping acceleration, and the pumping acceleration of the latter half is more than the pumping acceleration of previous stage, and each stage is a pump cycles.
3. equipment according to claim 2, it is characterized in that, described reception device is additionally operable to receive target rate of pumping, described control device determines pumping acceleration set according to described material characteristic data, and chooses the pumping acceleration in each stage in the plurality of stage from described pumping acceleration set according to described target rate of pumping.
4. equipment according to claim 3, it is characterised in that when the plurality of stage is N number of stage, rate of pumping described in described control device control by stages includes:
In the first stage, described control device controls the rate of pumping of hydraulic jack to be increased to the first rate of pumping with the first pumping acceleration; And
In the i-th stage, described control device controls the rate of pumping of hydraulic jack to be increased to the i-th rate of pumping with the i-th pumping acceleration;
Wherein, 2��i��N, and i, N be integer, the i-th-1 pumping acceleration < the i-th pumping acceleration, and in the N stage, N rate of pumping is target rate of pumping.
5. equipment according to claim 4, it is characterised in that the first rate of pumping meets the following conditions to N rate of pumping:
(i-th-1 rate of pumping the-the i-th-2 rate of pumping) < (i-th rate of pumping the-the i-th-1 rate of pumping).
6. equipment according to claim 3, it is characterized in that, after the rate of pumping of described hydraulic oil pump reaches described target rate of pumping, in each pump cycles, the rate of pumping of described hydraulic jack increases to described target rate of pumping with maximum pumping acceleration, described maximum pumping acceleration > N pumps acceleration, and described maximum pumping acceleration is the pumping acceleration adopted in normal pump cycles.
7. equipment according to claim 3, it is characterized in that, described reception device is additionally operable to receive the pumping pressure of described hydraulic oil pump, when described pumping pressure is more than pumping pressure threshold value set in advance, described control device controls the pumping acceleration pumping acceleration lower than this next stage selected by described control device of described hydraulic jack in next stage.
8. equipment according to claim 7, it is characterised in that the pumping acceleration that described control device controls described hydraulic jack in next stage includes lower than the pumping acceleration of this next stage selected by described control device:
Increase the quantity in the plurality of stage and reset the pumping acceleration in each stage started from described next stage.
9. equipment according to claim 8, it is characterised in that the quantity in described increase the plurality of stage also resets the pumping acceleration in each stage started from described next stage and includes:
Equalization divides the rate of pumping that each stage started from described next stage to reach equally, so that often difference between adjacent two stages is equal the rate of pumping to reach of each stage started from described next stage; And
The rate of pumping reached according to obtained each stage started from described next stage calculates the pumping acceleration in each stage obtaining starting from described next stage.
10. equipment according to claim 1, it is characterised in that described material characteristic data include one or more in pumped medium, making raw material, slump.
11. a material conveying control system, it is characterised in that this system includes:
Equipment described in claim any one of claim 1 to 10; And
Pressure transducer, for detecting the pumping pressure of described hydraulic oil pump.
12. an engineering machinery, it is characterised in that include the material conveying control system described in claim 11.
13. a material conveyance control method, controlled the rate of pumping of hydraulic jack by the aperture of hydraulic oil pump and pumping valve group, thus pumping described material with this rate of pumping, it is characterised in that the method also includes:
Receive the material characteristic data of described material;
When initial start-up hydraulic jack, carry out control by stages according to described material characteristic data and pump the pumping acceleration of described material.
14. method according to claim 13, it is characterised in that pump acceleration described in described control by stages and include:
Each stage in multiple stages adopts different pumping acceleration, and the pumping acceleration of the latter half is more than the pumping acceleration of previous stage, and each stage is a pump cycles.
15. method according to claim 14, it is characterised in that the method also includes:
Receive target rate of pumping;
Pumping acceleration set is determined according to described material characteristic data;
From described pumping acceleration set, the pumping acceleration in each stage in the plurality of stage is chosen according to described target rate of pumping.
16. method according to claim 15, it is characterised in that when the plurality of stage is N number of stage, rate of pumping described in described control by stages includes:
In the first stage, the rate of pumping controlling hydraulic jack increases to the first rate of pumping with the first pumping acceleration; And
In the i-th stage, the rate of pumping controlling hydraulic jack increases to the i-th rate of pumping with the i-th pumping acceleration;
Wherein, 2��i��N, and i, N be integer, the i-th-1 pumping acceleration < the i-th pumping acceleration, and in the N stage, N rate of pumping is target rate of pumping.
17. method according to claim 16, it is characterised in that the first rate of pumping meets the following conditions to N rate of pumping:
(i-th-1 rate of pumping the-the i-th-2 rate of pumping) < (i-th rate of pumping the-the i-th-1 rate of pumping).
18. method according to claim 15, it is characterized in that, after the rate of pumping of described hydraulic oil pump reaches described target rate of pumping, in each pump cycles, the rate of pumping of described hydraulic jack increases to described target rate of pumping with maximum pumping acceleration, described maximum pumping acceleration > N pumps acceleration, and described maximum pumping acceleration is the pumping acceleration adopted in normal pump cycles.
19. method according to claim 15, it is characterised in that the method also includes:
Receive the pumping pressure of described hydraulic oil pump;
When described pumping pressure is more than pumping pressure threshold value set in advance, the pumping acceleration lower than this selected next stage is accelerated in the pumping controlling described hydraulic jack in next stage.
20. method according to claim 19, it is characterised in that the described pumping acceleration at the described hydraulic jack of next stage control includes lower than the pumping acceleration of this next stage selected by described control device:
Increase the quantity in the plurality of stage and reset the pumping acceleration in each stage started from described next stage.
21. method according to claim 20, it is characterised in that the quantity in described increase the plurality of stage also resets the pumping acceleration in each stage started from described next stage and includes:
Equalization divides the rate of pumping that each stage started from described next stage to reach equally, so that often difference between adjacent two stages is equal the rate of pumping to reach of each stage started from described next stage; And
The rate of pumping reached according to obtained each stage started from described next stage calculates the pumping acceleration in each stage obtaining starting from described next stage.
22. method according to claim 13, it is characterised in that described material characteristic data include one or more in pumped medium, making raw material, slump.
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| CN201410581419.0A CN105626500B (en) | 2014-10-27 | 2014-10-27 | A kind of material conveying control device, system, method and engineering machinery |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022032898A1 (en) * | 2020-08-12 | 2022-02-17 | 中联重科股份有限公司 | Pumping control method and apparatus, material distribution method and apparatus, and material distribution device |
| CN114922819A (en) * | 2022-05-23 | 2022-08-19 | 中联重科股份有限公司 | Identification method of newly transported concrete in pumping equipment and pumping control method |
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| JP2008142455A (en) * | 2006-12-13 | 2008-06-26 | Yoshida Dental Mfg Co Ltd | Hydraulic drive system for dental treatment chair |
| CN102410268A (en) * | 2011-10-20 | 2012-04-11 | 中联重科股份有限公司 | Method and device for controlling hydraulic oil cylinder, pumping system and concrete pumping device |
| CN102536933A (en) * | 2012-02-06 | 2012-07-04 | 三一重工股份有限公司 | Hydraulic pumping system and concrete-pumping equipment comprising same |
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| US4643649A (en) * | 1984-07-20 | 1987-02-17 | The Perkin-Elmer Corporation | Digital control for rapid refill of a liquid chromatograph pump |
| CN1850560A (en) * | 2006-05-11 | 2006-10-25 | 江苏工业学院 | Intelligent coutroller for dual air-cushion belt conveyer |
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| WO2022032898A1 (en) * | 2020-08-12 | 2022-02-17 | 中联重科股份有限公司 | Pumping control method and apparatus, material distribution method and apparatus, and material distribution device |
| CN114922819A (en) * | 2022-05-23 | 2022-08-19 | 中联重科股份有限公司 | Identification method of newly transported concrete in pumping equipment and pumping control method |
| CN114922819B (en) * | 2022-05-23 | 2023-01-31 | 中联重科股份有限公司 | Identification method of newly transported concrete in pumping equipment and pumping control method |
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| CN105626500B (en) | 2017-05-31 |
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