CN110529356A - Concrete pumping equipment pumping control system and method - Google Patents
Concrete pumping equipment pumping control system and method Download PDFInfo
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- CN110529356A CN110529356A CN201910881379.4A CN201910881379A CN110529356A CN 110529356 A CN110529356 A CN 110529356A CN 201910881379 A CN201910881379 A CN 201910881379A CN 110529356 A CN110529356 A CN 110529356A
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- 238000005086 pumping Methods 0.000 title claims abstract description 86
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000033001 locomotion Effects 0.000 claims abstract description 18
- 230000008569 process Effects 0.000 claims abstract description 12
- 230000003139 buffering effect Effects 0.000 claims abstract description 6
- 230000009471 action Effects 0.000 claims description 8
- 230000006835 compression Effects 0.000 claims description 7
- 238000007906 compression Methods 0.000 claims description 7
- 230000004044 response Effects 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 9
- 238000001514 detection method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000035939 shock Effects 0.000 description 3
- 230000015271 coagulation Effects 0.000 description 2
- 238000005345 coagulation Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 1
- 238000013475 authorization Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B15/00—Pumps adapted to handle specific fluids, e.g. by selection of specific materials for pumps or pump parts
- F04B15/02—Pumps adapted to handle specific fluids, e.g. by selection of specific materials for pumps or pump parts the fluids being viscous or non-homogeneous
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B9/00—Piston machines or pumps characterised by the driving or driven means to or from their working members
- F04B9/08—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid
- F04B9/10—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid
- F04B9/109—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid having plural pumping chambers
- F04B9/111—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid having plural pumping chambers with two mechanically connected pumping members
- F04B9/113—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid having plural pumping chambers with two mechanically connected pumping members reciprocating movement of the pumping members being obtained by a double-acting liquid motor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Reciprocating Pumps (AREA)
Abstract
The invention discloses a kind of concrete pumping equipment pumping control systems, including receive user input information and to distributed director issue pumping control instruction central controller, detect master cylinder commutation signal signal supervisory instrument, for receive commutation signal and execute pumping control instruction distributed director.It further include buffer module, distributed director controls master cylinder commutation, oscillating oil cylinder commutation and buffer module movement.It further include electric control reversing pilot valves, electric control reversing pilot valves include controlling main system reversal valve, oscillating oil cylinder reversal valve, the master cylinder change-over pilot valve of buffer module movement, oscillating oil cylinder change-over pilot valve and buffering pilot valve respectively.The invention also discloses a kind of pumping control method, commutating, high-efficient, operation mileage rate is high, and the impact of commutation process is small.
Description
Technical field
The present invention relates to a kind of concrete pumping equipment pumping control system and methods, belong to technical field of engineering machinery.
Background technique
Concrete pumping equipment be it is a kind of using pipeline by the constructional engineering machinery of concrete conveyance to construction site.It with
Diesel engine is power, and driving hydraulic pump generates high-pressure oil, and then drives master cylinder and two coupled concrete defeated
It send cylinder to realize alternate reciprocating motion, and under the orderly interoperation of reversal valve, sucks concrete constantly from hopper and convey
Cylinder is simultaneously transported to construction site by delivery pipe, in terms of the concrete constructions such as airport, harbour, road, bridge, building,
Play a significant role.Pumping mechanism is the executing agency of concrete pump truck pumping process.It is concrete in the prior art in Fig. 1
Pumping mechanism structural schematic diagram, mainly by master cylinder 1, conveying cylinder 2, sink 3, concrete piston, hopper 5, oscillating oil cylinder 8, distributing valve
9, the part such as rabbling mechanism 7, discharge port 6, piping forms.Concrete piston is connect with main oil cylinder piston bar respectively, in the work of master cylinder
Reciprocating under, a cylinder advances, and another cylinder retreats；Conveying cylinder outlet is connected to hopper and distributing valve, distributing valve discharge end
Material mouth 6 is picked out, the other end is connect by splined shaft with the swing arm for putting swing mechanism 8, is acted in the oscillating oil cylinder 81 of pendulum swing mechanism 8
Under, it can swing.As shown in Fig. 2 (a), when positive pump, when pumped concrete feeding, under master cylinder effect, concrete piston is advanced,
Concrete piston retreats, while under oscillating oil cylinder effect, distributing valve is connected to conveying cylinder, and conveying cylinder is connected to hopper.Concrete is living in this way
Plug retreats, and conveying cylinder just will be sucked on the coagulation in hopper, and concrete piston is advanced, and coagulation feeding in conveying cylinder is sent into distributing valve pump
Out.When concrete piston is retreated to stroke terminal, control system issues signal, master cylinder commutation, while oscillating oil cylinder commutates, and makes point
It is connected to valve with conveying cylinder, conveying cylinder is connected to hopper, and at this moment concrete piston retreats, and concrete piston is advanced.It circuits sequentially, to realize
Uninterrupted pumping.Shown in Fig. 2 (b), anti-when pump, operation is pumped by counter, is connected to the conveying cylinder for being in suction stroke with distributing valve, located
It is connected in the conveying cylinder of push stroke with hopper, so that the concrete in pipeline is drawn back hopper.
At present in pumping procedure the reversing mode of master cylinder and oscillating oil cylinder according to the type of commutation signal be divided into hydraulic control and
Two kinds of electric control reversing.Liquid controlled reversing is when master cylinder runs to stroke terminal, and master cylinder output pressure signal passes through signal valve
The commutation of control oscillating oil cylinder and master cylinder is gone in output.Since liquid controlled reversing mode is controlled and is commutated by hydraulic pressure signal,
It is more demanding to the machining accuracy and size of hydraulic system element, have the defects that let out in easy in special operation condition and disorderly commutate,
And it is limited by signal valve arrangement, is not easy to carry out master cylinder and the commutation matching of oscillating oil cylinder is adjusted.Electric control reversing is in main oil
The installation of cylinder end is close to switch, and when main oil cylinder piston moves to end of travel, pull-switch incudes and outputs electrical signals to control
Device processed, then the commutation that instruction controls oscillating oil cylinder and master cylinder is issued by controller.A kind of patent of invention " concrete pumping control
Method and control device " proposes in (application number 201410806554.0,104847642 B of Authorization Notice No. CN) in each master
Two stroke detection positions are nearby arranged in oil cylinder stroke end, and main oil cylinder piston reaches first stroke position (apart from end of travel
The range of 200-300mm) after, main pump flow is changed to the first setting flow (the 50% of main pump maximum stream flow) from working flow；
Oil cylinder stroke reach second stroke position after, and by main pump flow be changed to the second setting flow (main pump maximum stream flow
20%)；After postponing the first duration relative to the induction moment for reaching second stroke position, oscillating oil cylinder commutation instruction is issued；With
And relative to the induction moment postpone the second duration after, issue master cylinder commutation instruction, wherein the second duration be greater than first
Duration.
In the control signal of concrete pumping equipment, one kind is enabled for pumping, positive and negative pump switching, rate of pumping adjusting etc. it
The low speed control signals of class, and the another kind of high-speed control signal for pumping commutation control.Because commutation process it is short (usually commutation when
Between 0.2s), completed within so short time tilt cylinder commutation, master cylinder commutation, commutation pressure buffer or the like control and it
Between logic and timing control, need corresponding fast, precision standard control.
And in the prior art, all controls of concrete pumping equipment are completed by central controller, have dragged down pump significantly
Send response time and the commutation precision of commutation control.Therefore, since reception oil cylinder in place signal, to output oscillating oil cylinder and master
The commutation of oil cylinder instructs, and the electrical delay time is long, and commutate low-response.Simultaneously because the electrical delay time is long, pumped entirely
Cheng Zhong, under different rate of pumpings, reserved master cylinder buffer distance is larger.(i.e. first stroke position and second stroke position,
The setting of the buffer distance of master cylinder is guarantee main oil cylinder piston after running to detection position, complete within the electrical delay time
At commutation, without hitting the reserved buffer distance of cylinder.) and biggish buffer distance will cause master cylinder and oscillating oil cylinder and receive
After the commutation signal that controller issues, actual commutation position conformity error is big, and commutation sequential coupling is not accurate, and commutate efficiency
Low, main-cylinder stroke utilization rate is low.
The prior art reduces punching by reducing discharge of main pump and realizing when main oil cylinder piston reaches first stroke position simultaneously
It hits, however in practical applications, since commutating period is very short, discharge of main pump variation response is slower, and the control of discharge capacity is not also accurate,
It is often extremely difficult to desired effect to reduce reversing impact by reducing discharge of main pump, and in commutation process, main pump is frequently fast
The displacement variation of speed, influences the life and reliability of main pump.
Existing pumping control system exist commutation matching not precisely, commutation compression shock is big, operation mileage rate is low etc. asks
Topic.
Summary of the invention
It is an object of the invention to overcome the shortcomings of that pumping control system operation mileage rate in the prior art is low, one is provided
Kind concrete pumping equipment pumping control system, technical solution are as follows:
Concrete pumping equipment pumping control system, including receive user and input information and issue pump to distributed director
It send the central controller of control instruction, detect the signal supervisory instrument of master cylinder commutation signal, for receiving commutation signal and holding
The distributed director of row pumping control instruction.
Further, aforementioned pumping control system further includes buffer module, and distributed director controls master cylinder commutation, pendulum
Dynamic oil cylinder commutation and buffer module movement.
It preferably, further include electric control reversing pilot valves, the electric control reversing pilot valves include controlling main system respectively
Master cylinder change-over pilot valve, oscillating oil cylinder change-over pilot valve and the buffering that reversal valve, oscillating oil cylinder reversal valve, buffer module act
Pilot valve.
Further, signal supervisory instrument is the resistance to compression magnetic sensor being mounted on master cylinder.
Concrete pumping equipment pumps control method, comprising the following steps:
Receive the pumping control instruction that central controller is sent；
Commutation information is fed back into the central controller；
Receive the master cylinder commutation signal that signal supervisory instrument detects；
Master cylinder commutation, oscillating oil cylinder commutation, buffer module movement are controlled according to the commutation signal.
Further, pumping control instruction includes positive pump instruction, anti-pump instruction and the setting instruction of discharge of main pump parameter value；
Further, distributed director is in t0Moment controls oscillating oil cylinder commutation；In t1The movement of moment buffer module；In
t2Moment exports commutation signal control master cylinder commutation, wherein t1=t0+Δt1, t2=t0+Δt2。
Preferably, master cylinder speed of service v and oscillating oil cylinder commutating period Δ t1, master cylinder commutating period Δ t2Between it is full
The following relationship of foot:
Δt1=k1/v+k2
Δt2=k3/v+k4
V=S/ Δ t
Wherein: k1、k3It is timing control coefficient；k2、k4It is correction factor, S is main oil cylinder stroke；Δ t be this commutation with
The Δ t of the time difference of last time commutation, each commutation process real-time update, first time pump action are default for program.
Compared with prior art, advantageous effects of the invention:
The present invention has comprehensively considered commutation process matching, the commutation factors such as compression shock and master cylinder operation mileage rate, if
A kind of automatically controlled reversing control system of distribution has been counted, commutation process response speed and precision are improved；Simultaneously in this control system base
On plinth, electric control reversing buffer technology is devised, solves the problems, such as reversing impact；Master cylinder and oscillating oil cylinder commutation sequential coupling side
Method improves the efficiency of commutation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of concrete pumping mechanism in the prior art；
Fig. 2 is that concrete pumping mechanism pumping procedure schematic diagram (a) in the prior art just pumps state；(b) counter to pump state；
Fig. 3 is the pumping theory schematic diagram of pumping control system of the invention；
Fig. 4 is pumping control system and method schematic diagram of the invention；
Fig. 5 is the commutation control schematic diagram in the present invention；
In figure: 1- master cylinder, the first master cylinder of 11-, the second master cylinder of 12-, 2- conveying cylinder, the first conveying cylinder of 21-, 211-
First concrete piston, the second conveying cylinder of 22-, the second concrete piston of 221-, 3- sink, 4- signal supervisory instrument, the first signal detection of 41-
Device, 42- second signal detection device, 5- hopper, 6- discharge port, 7- rabbling mechanism, 8- put swing mechanism, 81- oscillating oil cylinder, 9-
Distributing valve.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
As shown in Figure 3, Figure 4, concrete pumping equipment pumping control system, including receive user and input information and to distribution
Formula controller issues the central controller of pumping control instruction, detects the signal supervisory instrument 4 of 1 commutation signal of master cylinder, is used for
It receives commutation signal and executes the distributed director of pumping control instruction.After receiving pumping instruction, commutation signal is received
Afterwards, commutation action is directly controlled by distributed director, needs not move through central controller；Purpose be without central controller,
Quick response can be achieved；After pump action stopping, distributed AC servo system can be by commutation process data (such as commutation number) transmission
To central controller.
In the present embodiment, be exclusively used in pumping commutation distributed AC servo system implement body using one kind can be independently programmable it is small
Type controller, with the input/output function that parameter can configure, the signal transmitted for receiving signal supervisory instrument 4, and export
Control instruction, input/output response time reach 10ms grades；Pass through CAN interface and central controller real time communication simultaneously.
Central control unit of the central controller as concrete pumping equipment, remaining movement of control equipment, such as
User and extraneous various inputs are received, are controlled for controlling the control of the everything (in addition to pumping commutation), while to distribution
Device processed issue pumping start/stop, it is positive and negative pump, build the pressure, instructions and the parameter such as displacement size, and receive the fortune of distributed director
Row data (pumping commutation number etc.).
Aforementioned pumping control system further includes buffer module, and distributed director controls the commutation of master cylinder 1, oscillating oil cylinder 81
Commutation and buffer module movement.
In the present embodiment preferably, as shown in figure 5, further include electric control reversing pilot valves, the electric control reversing guide
Valve group includes controlling main system reversal valve, oscillating oil cylinder reversal valve, the master cylinder change-over pilot valve of buffer module movement, pendulum respectively
Dynamic oil cylinder change-over pilot valve and buffering pilot valve.
Electric control reversing pilot valves are patrolled after receiving the pumping control instruction of distributed director according to specific control
It collects and goes the commutation of control master cylinder 1, the commutation of oscillating oil cylinder 81 and commutation action of giving.Control buffer module pilot valve makes to buffer mould
Block movement, buffer module movement can reduce system pressure when commutation.Specific control logic is distributed director in t0When
Control oscillating oil cylinder 81 is carved to commutate；In t1(i.e. t1=t0+Δt1) movement of moment buffer module；In t2(t2=t0+Δt2) moment is defeated
Commutation signal control master cylinder 1 commutates out.
As preferred in the present embodiment, buffer module further includes the first overflow valve and the second overflow valve being arranged in parallel,
The oil pressure relief of first overflow valve is higher than the oil pressure relief of the second overflow valve.As shown in figure 5, specifically, the first overflow valve and
Two overflow valves are mounted on main system reversal valve, can control the operating pressure of main system.First overflow valve and the second overflow valve
Parallel connection, system working pressure are the smallest relief valve set pressure.When being buffered, it is low that setting pressure is opened by buffering pilot valve
The second overflow valve.
As preferred in the present embodiment, master cylinder 1 commutates, then is switched to the second overflow valve actuation by the first overflow valve events
Make.I.e. when master cylinder 1 commutates, the second overflow valve work of low oil pressure relief is automatically switched to, when can quickly reduce commutation
System pressure, commutation buffering effect are significant.
Signal supervisory instrument 4 is the resistance to compression magnetic sensor being mounted on master cylinder 1.The detectable oil of resistance to compression magnetic sensor
The ferrous metal of the cylinder piston main body, when resistance to compression magnetic sensor senses that the piston of master cylinder 1 passes through, exportable switching value letter
Number give distributed director.
Such as Fig. 4, concrete pumping equipment pumps control method, comprising the following steps:
User instructs to central controller input control；
Pumping control instruction in control instruction is sent to distributed director by central controller；
Commutation information is fed back to central controller by distributed director；
Signal supervisory instrument 4 detects 1 commutation signal of master cylinder and sends distributed director to；
Distributed director controls the commutation of master cylinder 1, the commutation of oscillating oil cylinder 81, buffer module movement according to commutation signal.
Pumping control instruction includes positive pump instruction, anti-pump instruction and the setting instruction of discharge of main pump parameter value；
Distributed director is in t0Moment controls oscillating oil cylinder 81 and commutates；In t1(t1=t0+Δt1) moment buffer module is dynamic
Make；In t2(t2=t0+Δt2) the moment output commutation signal control commutation of master cylinder 1.
Preferably, master cylinder speed of service v and oscillating oil cylinder commutating period Δ t in the present embodiment1, master cylinder commutation when
Between Δ t2Between meet following relationship:
Δt1=k1/v+k2
Δt2=k3/v+k4
V=S/ Δ t
Wherein: k1、k3It is timing control coefficient；k2、k4It is correction factor, S is main oil cylinder stroke；Δ t be this commutation with
The Δ t of the time difference of last time commutation, each commutation process real-time update, first time pump action are default for program.
Under different operating conditions, the speed of service of master cylinder 1 is different, and since discharge capacity is bigger, the speed of service of master cylinder 1 is faster,
It, need to be under different displacements to oscillating oil cylinder 81 commutating period Δ t for the stabilization and continuity for guaranteeing pumping procedure discharging1With main oil
The commutating period Δ t of cylinder 12Carry out matching adjusting.When the master cylinder speed of service is bigger, Δ t1With Δ t2It is smaller.
Below with reference to Fig. 3, Fig. 4, pumping work process is described in detail:
Under positive pump state: according to the input of user, central controller issues pumping to distributed director and starts (positive pump)
Instruction and displacement size parameter value, distributed director control master cylinder change-over pilot valve, swing oil according to the logic just pumped
The movement of 81 change-over pilot valve of cylinder cooperates master cylinder 1 and oscillating oil cylinder 81 and carries out positive pump work.That is the first master cylinder 11 in Fig. 3
Piston is run to the right, drives the first concrete piston 211 in conveying cylinder 2 to run to the right, while oscillating oil cylinder 81 makes distributing valve 9 and first
Conveying cylinder 21 is connected, and concrete is pushed out in the first conveying cylinder 21；The second of second master cylinder, 12 piston and the second conveying cylinder 22
Concrete piston 221 is run to the left, and concrete in hopper 5 is drawn into the second conveying cylinder 22.
When the piston of first master cylinder 11 runs to the right the position S1 of the first signal supervisory instrument 41 (detection position S1 and
Detecting position S2 is buffer distance of the master cylinder 1 under maximum movement speed, and detection position S1 and S2 is apart from main oil in the present invention
Cylinder end of travel is 100mm), the position sensor of detection position S1 outputs electrical signals to distributed director.Distributed AC servo system
Device controls 81 guide's valve events of oscillating oil cylinder in t0 moment output signal, and oscillating oil cylinder 81 commutates, after commutation distributing valve 9 with
Second conveying cylinder 22 is connected；In t1(t1=t0+Δt1) moment output signal control buffer module guide valve events, reduce system
Operating pressure；Distributed director is in t later2(t2=t0+Δt2) moment output signal control master cylinder change-over pilot valve is dynamic
Make, master cylinder 1 starts to commutate, and the second concrete piston 221 of the piston of the second master cylinder 12 and the second conveying cylinder 22 is to the right after commutation
Operation, is released concrete by distributing valve 9；First concrete piston 211 of the piston of the first master cylinder 11 and the first conveying cylinder 21
It runs to the left, sucks concrete from hopper 5.Second master cylinder, 12 piston is run to the position S2 of second signal detection device 42
When, distributed director is output electrical signals to, control process is similar with abovementioned steps.
The present invention is pumped commutation action and is individually controlled using exclusive distributed director, and the controller response time reaches 10ms
Grade, the 100ms grade of remote super central controller, commutation response is fast, and control precision is high, hits cylinder setting to avoid master cylinder 1 from commutating
Buffer distance substantially shortens, and the operation mileage rate of master cylinder is high.
On the basis of the commutation control of quick response, changing for master cylinder 1 and oscillating oil cylinder 81 under different rate of pumpings is introduced
It controls, guarantees under each rate of pumping to matching logic, pumping procedure can steady and continuous discharging.
Automatically controlled buffer technology is used simultaneously, while oscillating oil cylinder 81 commutates, can reduce rapidly master cylinder operating pressure,
Guarantee that master cylinder commutates under low-pressure operating condition, shock absorbing is effectively reduced.
Concrete pumping equipment pumping control system of the invention realizes following technical effect:
(1) pumping commutation action uses distributed director, and response is fast, and master cylinder operation mileage rate is high；
(2) commutation of master cylinder and oscillating oil cylinder matches under different rate of pumpings；
(3) automatically controlled buffer technology is used, solves the problems, such as reversing impact.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. concrete pumping equipment pumping control system, which is characterized in that including receiving user's input information and being controlled to distribution
Device processed issues the central controller of pumping control instruction, detects the signal supervisory instrument of master cylinder commutation signal, for receiving
It states commutation signal and executes the distributed director of pumping control instruction.
2. pumping equipment pumping control system according to claim 1, which is characterized in that it further include buffer module, it is described
Distributed director controls master cylinder commutation, oscillating oil cylinder commutation and buffer module movement.
3. pumping equipment pumping control system according to claim 1 or 2, which is characterized in that further include electric control reversing elder generation
Pilot valve group, the electric control reversing pilot valves include controlling main system reversal valve, oscillating oil cylinder reversal valve, buffer module respectively to move
Master cylinder change-over pilot valve, oscillating oil cylinder change-over pilot valve and the buffering pilot valve of work.
4. the pumping equipment pumping control system according to shown in claim 3, which is characterized in that the buffer module further includes simultaneously
Join the first overflow valve and the second overflow valve of setting, the oil pressure relief of first overflow valve is higher than the overflow pressure of the second overflow valve
Power.
5. pumping equipment pumping control system according to claim 4, which is characterized in that master cylinder commutation, then by described
First overflow valve events are switched to the second overflow valve events.
6. pumping equipment pumping control system according to claim 1, which is characterized in that the signal supervisory instrument is peace
Resistance to compression magnetic sensor on master cylinder.
7. concrete pumping equipment pumps control method, which comprises the following steps:
Receive the pumping control instruction that central controller is sent；
Commutation information is fed back into the central controller；
Receive the master cylinder commutation signal that signal supervisory instrument detects；
Master cylinder commutation, oscillating oil cylinder commutation, buffer module movement are controlled according to the commutation signal.
8. concrete pumping equipment according to claim 7 pumps control method, which is characterized in that the pumping control refers to
Enable includes positive pump instruction, anti-pump instruction and the setting instruction of the master cylinder speed of service.
9. concrete pumping equipment according to claim 7 pumps control method, which is characterized in that the distributed AC servo system
Device is in t0Moment controls oscillating oil cylinder commutation；In t1The movement of moment buffer module；In t2) the main oil of moment output commutation signal control
Cylinder commutates, wherein t1=t0+Δt1, t2=t0+Δt2。
10. concrete pumping equipment according to claim 9 pumps control method, which is characterized in that the master cylinder fortune
Scanning frequency degree v and oscillating oil cylinder commutating period Δ t1, master cylinder commutating period Δ t2Between meet following relationship:
Δt1=k1/v+k2
Δt2=k3/v+k4
V=S/ Δ t
Wherein: k1、k3It is timing control coefficient；k2、k4It is correction factor, S is main oil cylinder stroke；Δ t is this commutation and last time
The Δ t of the time difference of commutation, each commutation process real-time update, first time pump action are default for program.
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| CN201910881379.4A CN110529356A (en) | 2019-09-18 | 2019-09-18 | Concrete pumping equipment pumping control system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910881379.4A CN110529356A (en) | 2019-09-18 | 2019-09-18 | Concrete pumping equipment pumping control system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113006490A (en) * | 2021-03-25 | 2021-06-22 | 徐州徐工施维英机械有限公司 | Concrete pumping equipment and control method thereof |
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