CN110529356B - Pumping control system and method for concrete pumping equipment - Google Patents
Pumping control system and method for concrete pumping equipment Download PDFInfo
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- CN110529356B CN110529356B CN201910881379.4A CN201910881379A CN110529356B CN 110529356 B CN110529356 B CN 110529356B CN 201910881379 A CN201910881379 A CN 201910881379A CN 110529356 B CN110529356 B CN 110529356B
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- 238000005086 pumping Methods 0.000 title claims abstract description 106
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000009471 action Effects 0.000 claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000008569 process Effects 0.000 claims abstract description 17
- 230000003139 buffering effect Effects 0.000 claims abstract description 14
- 230000008859 change Effects 0.000 claims description 11
- 238000012937 correction Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 description 11
- 230000004044 response Effects 0.000 description 11
- 230000007246 mechanism Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 238000010276 construction Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 4
- 238000007599 discharging Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000007906 compression Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015271 coagulation Effects 0.000 description 1
- 238000005345 coagulation Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003631 expected effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012546 transfer 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
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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
- 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
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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
- 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 pumping control system of concrete pumping equipment, which comprises a central controller for receiving user input information and sending pumping control instructions to a distributed controller, and a signal detection device for detecting reversing signals of a main oil cylinder, wherein the distributed controller is used for receiving the reversing signals and executing the pumping control instructions. The device also comprises a buffer module, and the distributed controller controls the reversing of the main oil cylinder, the reversing of the swing oil cylinder and the buffer module to act. The automatic reversing valve further comprises an electric control reversing pilot valve group, wherein the electric control reversing pilot valve group comprises a main oil cylinder reversing pilot valve, a swinging oil cylinder reversing pilot valve and a buffering pilot valve which respectively control the actions of the main system reversing valve, the swinging oil cylinder reversing valve and the buffering module. The invention also discloses a pumping control method, which has high reversing efficiency, high stroke utilization rate and small impact in the reversing process.
Description
Technical Field
The invention relates to a pumping control system and a pumping control method for concrete pumping equipment, and belongs to the technical field of engineering machinery.
Background
Concrete pumping equipment is a construction engineering machine which utilizes pipelines to convey concrete to a construction site. The hydraulic pump is driven to generate high-pressure oil by taking the diesel engine as power, so that the main oil cylinder and two concrete conveying cylinders connected with the main oil cylinder are driven to realize alternate reciprocating motion, and concrete is continuously sucked into the conveying cylinders from the hopper and conveyed to a construction site through the conveying pipe under the orderly matched action of the reversing valve, so that the hydraulic pump has an important role in the aspect of concrete construction of airports, wharfs, roads, bridges, building houses and the like. The pumping mechanism is an executing mechanism of the pumping process of the concrete pump truck. Fig. 1 is a schematic structural diagram of a concrete pumping mechanism in the prior art, and mainly comprises a main oil cylinder 1, a conveying cylinder 2, a water tank 3, a concrete piston, a hopper 5, a swinging oil cylinder 8, a distributing valve 9, a stirring mechanism 7, a discharge port 6, a piping and other parts. The concrete piston is respectively connected with a piston rod of the main oil cylinder, and reciprocates under the action of the main oil cylinder, one cylinder moves forward, and the other cylinder moves backward; the outlet of the conveying cylinder is communicated with the hopper and the distributing valve, the discharging end of the distributing valve is connected with the discharging port 6, the other end of the distributing valve is connected with the swing arm of the swing mechanism 8 through a spline shaft, and the distributing valve can swing left and right under the action of the swing oil cylinder 81 of the swing mechanism 8. As shown in fig. 2 (a), in the process of positive pumping and coagulation feeding, the concrete piston moves forward and retreats under the action of the main oil cylinder, and meanwhile, the distribution valve is communicated with the conveying cylinder and the conveying cylinder is communicated with the hopper under the action of the swing oil cylinder. The concrete piston retreats, the concrete in the hopper is sucked into the conveying cylinder, the concrete piston advances, and the concrete in the conveying cylinder is fed into the distributing valve to be pumped out. When the concrete piston retreats to the stroke end, the control system sends out a signal, the main oil cylinder reverses, and meanwhile the swing oil cylinder reverses, so that the distribution valve is communicated with the conveying cylinder, the conveying cylinder is communicated with the hopper, and at the moment, the concrete piston retreats and the concrete piston advances. And sequentially circulates, thereby realizing continuous pumping. In the case of the reverse pump shown in fig. 2 (b), the delivery cylinder in the suction stroke is communicated with the distribution valve and the delivery cylinder in the push stroke is communicated with the hopper by the reverse pump operation, so that the concrete in the pipeline is pumped back to the hopper.
The current reversing modes of the main oil cylinder and the swing oil cylinder in the pumping process are divided into two types of hydraulic control and electric control reversing according to the types of reversing signals. The hydraulic control reversing is that when the main oil cylinder runs to the stroke end, the main oil cylinder outputs a pressure signal to control the reversing of the swing oil cylinder and the main oil cylinder through a signal valve. Because the hydraulic control reversing mode is controlled and reversed by means of hydraulic signals, the requirements on the machining precision and the size of the hydraulic system elements are high, the defects of easy internal leakage and mess reversing exist in special working conditions, and the reversing matching adjustment of the main oil cylinder and the swinging oil cylinder is not easy to carry out due to the limitation of a signal valve structure. The electric control reversing is to install a proximity switch at the tail end of the main oil cylinder, when the piston of the main oil cylinder moves to the tail end of the stroke, the wiring switch senses and outputs an electric signal to the controller, and then the controller sends out an instruction to control the reversing of the swing oil cylinder and the main oil cylinder. The patent of the invention is a concrete pumping control method and a control device (application number 201410806554.0, grant bulletin number CN 104847642B), which proposes that two stroke detection positions are arranged near the stroke end of each main cylinder, and after the piston of the main cylinder reaches a first stroke position (a range of 200-300mm from the stroke end), the flow rate of a main pump is changed from the working flow rate to a first set flow rate (50% of the maximum flow rate of the main pump); after the stroke of the oil cylinder reaches the second stroke position, changing the flow rate of the main pump to a second set flow rate (20% of the maximum flow rate of the main pump); after delaying the first time length relative to the sensing time reaching the second stroke position, sending out a swinging oil cylinder reversing instruction; and after delaying the second time period relative to the sensing time, sending out a command for reversing the main oil cylinder, wherein the second time period is longer than the first time period.
Among the control signals of the concrete pumping equipment, one type is a low-speed control signal such as pumping enabling, positive and negative pump switching, pumping speed adjusting and the like, and the other type is a high-speed control signal for pumping reversing control. Because the reversing process is short (the reversing time is usually 0.2 s), control such as swing cylinder reversing, main cylinder reversing, reversing pressure buffering and the like and logic and time sequence control between the swing cylinder reversing and the main cylinder reversing are completed in such a short time, and accordingly quick and accurate control is required.
In the prior art, all control of the concrete pumping equipment is completed by the central controller, and the response time and reversing precision of pumping reversing control are greatly reduced. Therefore, from receiving the oil cylinder in-place signal to outputting the reversing instructions of the swing oil cylinder and the main oil cylinder, the electric delay time is long, and the reversing response is slow. Meanwhile, due to long electrical delay time, the reserved buffer distance of the main oil cylinder is larger under different pumping speeds in the whole pumping process. (namely, the setting of the buffer distance of the master cylinder ensures that the master cylinder piston finishes reversing within the electrical delay time after running to the detection position and the buffer distance reserved without striking the cylinder.) the larger buffer distance can cause large error of the consistency of the actual reversing position, inaccurate reversing time sequence matching, low reversing efficiency and low utilization rate of the master cylinder stroke after receiving reversing signals sent by the controller.
Meanwhile, in the prior art, when the piston of the main cylinder reaches the first stroke position, impact is reduced by reducing the displacement of the main pump, however, in practical application, the change response of the displacement of the main pump is slower due to the short reversing time, the control of the displacement is also inaccurate, the impact of reversing is often difficult to achieve the expected effect by reducing the displacement of the main pump, and in the reversing process, the service life and reliability of the main pump are influenced due to the frequent and rapid change of the displacement of the main pump.
The existing pumping control system has the problems of inaccurate reversing matching, large reversing pressure impact, low stroke utilization rate and the like.
Disclosure of Invention
The invention aims to overcome the defect of low stroke utilization rate of a pumping control system in the prior art, and provides a pumping control system of concrete pumping equipment, which comprises the following technical scheme:
The pumping control system of the concrete pumping equipment comprises a central controller for receiving user input information and sending pumping control instructions to the distributed controller, and a signal detection device for detecting reversing signals of the main oil cylinder, wherein the distributed controller is used for receiving the reversing signals and executing the pumping control instructions.
Further, the pumping control system further comprises a buffer module, and the distributed controller controls the main oil cylinder reversing, the swing oil cylinder reversing and the buffer module to act.
Preferably, the automatic reversing valve further comprises an electric control reversing pilot valve group, wherein the electric control reversing pilot valve group comprises a main oil cylinder reversing pilot valve, a swing oil cylinder reversing pilot valve and a buffer pilot valve which respectively control the actions of the main system reversing valve, the swing oil cylinder reversing valve and the buffer module.
Further, the signal detection device is a pressure-resistant magnetic sensor arranged on the main oil cylinder.
The pumping control method of the concrete pumping equipment comprises the following steps:
Receiving a pumping control instruction sent by a central controller;
The reversing information is fed back to the central controller;
receiving a main oil cylinder reversing signal detected by a signal detection device;
And controlling the reversing of the main oil cylinder, the reversing of the swinging oil cylinder and the action of the buffer module according to the reversing signal.
Further, the pumping control commands include a positive pumping command, a negative pumping command, and a main pump displacement parameter value setting command;
Further, the distributed controller controls the swinging oil cylinder to change direction at the time t 0; buffering the module action at time t 1; the reversing signal is output at time t 2 to control the reversing of the master cylinder, wherein t 1＝t0+Δt1,t2＝t0+Δt2.
Preferably, the following relation is satisfied between the operating speed v of the master cylinder and the reversing time Δt 1 and the reversing time Δt 2 of the swing cylinder:
Δt1＝k1/v+k2
Δt2＝k3/v+k4
v＝S/Δt
Wherein: k 1、k3 is a timing control coefficient; k 2、k4 is a correction coefficient, and S is a main cylinder stroke; delta t is the time difference between the current reversing and the last reversing, the reversing process is updated in real time each time, and delta t of the first pumping action is preset by a program.
Compared with the prior art, the invention has the beneficial effects that:
The invention designs a distributed electric control reversing control system by comprehensively considering factors such as reversing process matching, reversing pressure impact, main oil cylinder stroke utilization rate and the like, and improves the response speed and precision of the reversing process; meanwhile, on the basis of the control system, an electric control reversing buffer technology is designed, and the reversing impact problem is solved; the reversing time sequence matching method of the main oil cylinder and the swing oil cylinder improves the reversing efficiency.
Drawings
FIG. 1 is a schematic diagram of a prior art concrete pumping mechanism;
FIG. 2 is a schematic diagram of the pumping process of a concrete pumping mechanism of the prior art (a) a positive pumping state; (b) a reverse pump state;
FIG. 3 is a schematic diagram of the pumping principles of the pumping control system of the present invention;
FIG. 4 is a schematic diagram of a pumping control system and method of the present invention;
FIG. 5 is a schematic diagram of the commutation control in the present invention;
In the figure: 1-master cylinder, 11-first master cylinder, 12-second master cylinder, 2-delivery cylinder, 21-first delivery cylinder, 211-first concrete piston, 22-second delivery cylinder, 221-second concrete piston, 3-water tank, 4-signal detection device, 41-first signal detection device, 42-second signal detection device, 5-hopper, 6-discharge port, 7-stirring mechanism, 8-swing mechanism, 81-swing cylinder and 9-distributing valve.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
As shown in fig. 3 and 4, the pumping control system of the concrete pumping equipment comprises a central controller for receiving user input information and sending pumping control instructions to a distributed controller, and a signal detection device 4 for detecting reversing signals of the main cylinder 1, wherein the distributed controller is used for receiving the reversing signals and executing the pumping control instructions. After receiving the pumping instruction and the reversing signal, the reversing action is directly controlled by the distributed controller without passing through the central controller; the purpose is that the quick response can be realized without a central controller; after the pumping action is stopped, the distributed control may transmit commutation process data (e.g., the number of commutations) to the central controller.
In this embodiment, the distributed controller dedicated for pump reversing specifically adopts an independently programmable small controller, which has a parameter configurable input/output function, and is configured to receive a signal transmitted from the signal detection device 4, output a control instruction, and input/output response time reaches 10 ms; and simultaneously, the controller communicates with a central controller in real time through a CAN interface.
The central controller is used as a centralized control unit of the concrete pumping equipment, and is used for controlling other actions of the equipment, such as receiving various inputs of users and the outside, controlling all actions (except for pumping reversing), sending instructions and parameters such as pumping start/stop, positive and negative pumps, pressure holding, displacement and the like to the distributed controller, and receiving operation data (pumping reversing times and the like) of the distributed controller.
The pumping control system further comprises a buffer module, and the distributed controller controls the main oil cylinder 1 to change direction, the swing oil cylinder 81 to change direction and the buffer module to act.
In this embodiment, as shown in fig. 5, the method further includes an electrically controlled reversing pilot valve set, where the electrically controlled reversing pilot valve set includes a master cylinder reversing pilot valve, a swing cylinder reversing pilot valve, and a buffer module for controlling actions of the master cylinder reversing valve, the swing cylinder reversing pilot valve, and the buffer pilot valve, respectively.
After receiving the pumping control command of the distributed controller, the electric control reversing pilot valve group controls the reversing of the main oil cylinder 1, the reversing of the swing oil cylinder 81 and the reversing buffering action according to specific control logic. The pilot valve of the buffer module is controlled to enable the buffer module to act, and the buffer module can reduce the system pressure during reversing. The specific control logic is that the distributed controller controls the swing oil cylinder 81 to change direction at the time t 0; buffering module action at time t 1 (i.e., t 1＝t0+Δt1); and outputting a reversing signal at the time t 2(t2＝t0+Δt2) to control the reversing of the master cylinder 1.
Preferably, the buffer module further includes a first relief valve and a second relief valve disposed in parallel, wherein the relief pressure of the first relief valve is higher than the relief pressure of the second relief valve. As shown in fig. 5, in particular, the first relief valve and the second relief valve are installed on the main system directional valve, and the operating pressure of the main system can be controlled. The first relief valve is connected in parallel with the second relief valve, and the system operating pressure is the minimum relief valve set pressure. When buffering is performed, the second overflow valve with low set pressure is opened by the buffering pilot valve.
In the present embodiment, the master cylinder 1 is preferably switched from the first relief valve operation to the second relief valve operation when the master cylinder is reversed. Namely, when the main oil cylinder 1 commutates, the second overflow valve which is automatically switched to low overflow pressure works, so that the system pressure during the commutation can be quickly reduced, and the commutation buffering effect is obvious.
The signal detection device 4 is a pressure-resistant magnetic sensor mounted on the master cylinder 1. The anti-compression magnetic sensor can detect ferrous metal of the cylinder piston main body, and when the anti-compression magnetic sensor senses that the piston of the main cylinder 1 passes, a switching value signal can be output to the distributed controller.
As shown in fig. 4, the pumping control method of the concrete pumping equipment comprises the following steps:
the user inputs a control instruction to the central controller;
the central controller sends pumping control instructions in the control instructions to the distributed controllers;
The distributed controller feeds back reversing information to the central controller;
the signal detection device 4 detects a reversing signal of the master cylinder 1 and transmits the reversing signal to the distributed controller;
The distributed controller controls the main oil cylinder 1 to change direction and the swing oil cylinder 81 to change direction and the buffer module to act according to the change signal.
The pumping control instructions comprise a positive pump instruction, a negative pump instruction and a main pump displacement parameter value setting instruction;
The distributed controller controls the swing oil cylinder 81 to change direction at the time t 0; at time t 1(t1＝t0+Δt1) buffering the module action; and outputting a reversing signal at the time t 2(t2＝t0+Δt2) to control the reversing of the master cylinder 1.
In this embodiment, as an preference, the following relationship is satisfied between the operating speed v of the master cylinder and the reversing time Δt 1 and the reversing time Δt 2 of the swing cylinder:
Δt1＝k1/v+k2
Δt2＝k3/v+k4
v＝S/Δt
Wherein: k 1、k3 is a timing control coefficient; k 2、k4 is a correction coefficient, and S is a main cylinder stroke; delta t is the time difference between the current reversing and the last reversing, the reversing process is updated in real time each time, and delta t of the first pumping action is preset by a program.
Under different working conditions, the running speeds of the main oil cylinders 1 are different, and as the displacement is larger, the running speed of the main oil cylinders 1 is higher, and in order to ensure the stability and the continuity of the discharge in the pumping process, the reversing time delta t 1 of the swing oil cylinders 81 and the reversing time delta t 2 of the main oil cylinders 1 are required to be matched and adjusted under different displacement. The greater the master cylinder operating speed, the smaller Δt 1 and Δt 2.
The pumping operation will be described in detail with reference to fig. 3 and 4:
In the positive pump state: according to the input of a user, the central controller sends a pumping start (positive pump) instruction and a displacement parameter value to the distributed controller, and the distributed controller controls the main oil cylinder reversing pilot valve and the swing oil cylinder 81 reversing pilot valve to act according to the logic of the positive pump, so that the main oil cylinder 1 and the swing oil cylinder 81 cooperate to perform positive pump operation. Namely, in fig. 3, the piston of the first main oil cylinder 11 moves rightwards to drive the first concrete piston 211 in the conveying cylinder 2 to move rightwards, and meanwhile, the swing oil cylinder 81 enables the distributing valve 9 to be communicated with the first conveying cylinder 21, and the concrete in the first conveying cylinder 21 is pushed out; the second master cylinder 12 piston and the second concrete piston 221 of the second delivery cylinder 22 run to the left, sucking the concrete in the hopper 5 into the second delivery cylinder 22.
When the piston of the first master cylinder 11 moves rightward to the position S1 of the first signal detection device 41 (the detection position S1 and the detection position S2 are buffer distances of the master cylinder 1 at the maximum movement speed, and the detection positions S1 and S2 are 100mm from the stroke end of the master cylinder in the present invention), the position sensor of the detection position S1 outputs an electric signal to the distributed controller. The distributed controller outputs a signal at the time t0 to control the pilot valve of the swing oil cylinder 81 to act, the swing oil cylinder 81 commutates, and the distribution valve 9 is communicated with the second conveying cylinder 22 after the commutation; outputting a signal at the time t 1(t1＝t0+Δt1) to control the action of the pilot valve of the buffer module, so as to reduce the running pressure of the system; then the distributed controller outputs a signal at the time t 2(t2＝t0+Δt2) to control the action of a main oil cylinder reversing pilot valve, the main oil cylinder 1 starts reversing, the piston of the second main oil cylinder 12 and the second concrete piston 221 of the second conveying cylinder 22 after reversing run rightwards, and the concrete is pushed out through the distributing valve 9; the piston of the first master cylinder 11 and the first concrete piston 211 of the first transfer cylinder 21 run to the left, sucking concrete from the hopper 5. When the piston of the second master cylinder 12 moves to the position S2 of the second signal detecting device 42, an electric signal is output to the distributed controller, and the control process is similar to the previous steps.
The pumping reversing action is independently controlled by the unique distributed controller, the response time of the controller reaches 10ms, the response time is far more than 100ms of the central controller, the reversing response is quick, the control precision is high, the buffer distance set for avoiding the reversing cylinder collision of the main oil cylinder 1 is greatly shortened, and the stroke utilization rate of the main oil cylinder is high.
On the basis of quick response reversing control, reversing matching logic control of the main oil cylinder 1 and the swing oil cylinder 81 under different pumping speeds is introduced, so that stable and continuous discharging of the pumping process under each pumping speed is ensured.
Meanwhile, an electric control buffering technology is adopted, the operation pressure of the main oil cylinder can be rapidly reduced while the swing oil cylinder 81 is reversed, the reversing of the main oil cylinder under a low-pressure working condition is ensured, and the buffering impact is effectively reduced.
The pumping control system of the concrete pumping equipment realizes the following technical effects:
(1) The pumping reversing action adopts a distributed controller, so that the response is quick, and the stroke utilization rate of the main oil cylinder is high;
(2) Reversing and matching the main oil cylinder and the swing oil cylinder at different pumping speeds;
(3) The electric control buffering technology is adopted to solve the problem of reversing impact.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (6)
1. The pumping control method of the concrete pumping equipment of the pumping control system of the concrete pumping equipment is characterized in that the pumping control system of the concrete pumping equipment comprises a central controller for receiving user input information and sending pumping control instructions to a distributed controller, and a signal detection device for detecting reversing signals of a main oil cylinder, and the distributed controller is used for receiving the reversing signals and executing the pumping control instructions;
the device also comprises a buffer module, wherein the distributed controller controls the reversing of the main oil cylinder, the reversing of the swing oil cylinder and the action of the buffer module;
the pumping control method of the concrete pumping equipment comprises the following steps:
Receiving a pumping control instruction sent by a central controller;
The reversing information is fed back to the central controller;
receiving a main oil cylinder reversing signal detected by a signal detection device;
According to the reversing signal, controlling the reversing of the main oil cylinder, the reversing of the swinging oil cylinder and the action of the buffer module;
the distributed controller controls the reversing of the main oil cylinder, the reversing of the swing oil cylinder and the action of the buffer module;
the distributed controller controls the swinging oil cylinder to change direction at the time t 0; buffering the module action at time t 1; outputting a reversing signal at a time t 2 to control the reversing of the main oil cylinder, wherein t 1＝t0+Δt1,t2＝t0+Δt2;
The following relation is satisfied between the running speed v of the main oil cylinder and the reversing time delta t 1 of the swing oil cylinder and the reversing time delta t 2 of the main oil cylinder:
Δt1＝k1/v+k2
Δt2＝k3/v+k4
v＝S/Δt
Wherein: k 1、k3 is a timing control coefficient; k 2、k4 is a correction coefficient, and S is a main cylinder stroke; delta t is the time difference between the current reversing and the last reversing, the reversing process is updated in real time each time, and delta t of the first pumping action is preset by a program.
2. The concrete pumping apparatus pumping control method of claim 1, wherein the pumping control instructions include a positive pumping instruction, a negative pumping instruction, and a master cylinder operating speed setting instruction.
3. The pumping control method of the concrete pumping equipment according to claim 1, wherein the pumping control system of the concrete pumping equipment further comprises an electric control reversing pilot valve group, and the electric control reversing pilot valve group comprises a main oil cylinder reversing pilot valve, a swing oil cylinder reversing pilot valve and a buffer pilot valve which respectively control actions of the main system reversing valve, the swing oil cylinder reversing valve and the buffer module.
4. The pumping control method of a concrete pumping apparatus according to claim 1, wherein the buffer module further comprises a first relief valve and a second relief valve disposed in parallel, the relief pressure of the first relief valve being higher than the relief pressure of the second relief valve.
5. The pumping control method of a concrete pumping device according to claim 4, wherein the main cylinder is changed over from the first relief valve action to the second relief valve action.
6. The pumping control method of concrete pumping equipment according to claim 1, wherein the signal detection device is a pressure-resistant magnetic sensor mounted on a master cylinder.
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| CN201910881379.4A CN110529356B (en) | 2019-09-18 | 2019-09-18 | Pumping control system and method for concrete pumping equipment |
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| CN201910881379.4A CN110529356B (en) | 2019-09-18 | 2019-09-18 | Pumping control system and method for concrete pumping equipment |
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| CN110529356B true CN110529356B (en) | 2024-09-17 |
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| CN210769176U (en) * | 2019-09-18 | 2020-06-16 | 徐州徐工施维英机械有限公司 | Pumping control system of concrete pumping equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2713194Y (en) * | 2004-04-21 | 2005-07-27 | 郑州多元重工科技有限公司 | Hydraulic system for concrete pump |
| CN102734236B (en) * | 2012-07-12 | 2013-04-03 | 三一重工股份有限公司 | Pumping reversal hydraulic control system, control method and concrete conveying pump |
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| CN103603843B (en) * | 2013-12-04 | 2017-01-11 | 三一汽车制造有限公司 | Oil cylinder control system, oil cylinder control method and pumping machine |
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