WO2013013403A1

WO2013013403A1 - Concrete pumping device and control method and device thereof

Info

Publication number: WO2013013403A1
Application number: PCT/CN2011/077700
Authority: WO
Inventors: 李沛林
Original assignee: 长沙中联重工科技发展股份有限公司; 湖南中联重科专用车有限责任公司
Priority date: 2011-07-27
Filing date: 2011-07-27
Publication date: 2013-01-31

Abstract

A concrete pumping device and control method and device thereof, the control method of the concrete pumping device comprising: when a first pumping of a concrete pump is activated, detecting the preset pumping status of the first pumping of the concrete pump; if the preset pumping status of the first pumping is low pressure pumping, then detecting whether the working parameter of a second pumping is greater than a preset working parameter and/or detecting whether the material supply delay time of the concrete pump is greater than a preset material supply delay time value, wherein the second pumping is the previous pumping of the first pumping; if the working parameter is greater than the preset working parameter and/or the material supply delay time of the concrete pump is greater than the preset material supply delay time value, then controlling the concrete pump to switch from low pressure pumping to high pressure pumping; and after the concrete pump works in the high pressure pumping state for a first preset time, controlling the concrete pump to switch from high pressure pumping to low pressure pumping. The pumping device and the control method and device thereof can properly control the concrete pump when the pumping is activated.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the field of concrete pumping equipment, and in particular to a concrete pumping apparatus and a control method and apparatus therefor. BACKGROUND OF THE INVENTION During the construction process, a large amount of concrete needs to be transported and poured. The conventional construction method uses a trolley, a tower crane, etc., but these methods have obviously not met the requirements of modern engineering construction. The concrete pumping construction method has the advantages of high efficiency, good quality and low labor intensity, and is widely used in modern engineering construction. Concrete pumping equipment generally consists of the following parts: Pumping hydraulic system: Driving the pumping cylinder, controlling the direction and speed of the pumping cylinder; Distributing the hydraulic system: Driving the distribution mechanism, controlling the commutation of the distribution mechanism; Stirring hydraulic system: Drive Stirring mechanism. The conveying distance of the concrete pump depends on the outlet pressure of the concrete pump. When the pressure is high, the conveying distance is long. When the pressure is low, the conveying distance is short. Due to the increasing complexity of concrete conditions and the increasing use of high-strength concrete, the pressure requirements on the concrete pump's outlet pressure are different when the concrete pump is started. In order to change the outlet pressure of the concrete pump, it is generally achieved by high and low pressure switching of the pumping hydraulic system. When the pumping state of the concrete pump is low pressure pumping, the pressure oil pushes the piston from the rod cavity. Due to the small working area, the outlet pressure of the concrete pump is small and the speed is fast; when the pumping state of the concrete pump is high pressure pumping Time. The pressure oil pushes the piston from the rodless cavity. Due to the large working area, the outlet pressure of the concrete pump is large and the speed is slow. At present, the ways to achieve high and low voltage conversion can be basically divided into three types: one is to change the hose to achieve high and low pressure conversion; the other is to use the rotary oil block cover to change the oil passage communication relationship to achieve high and low voltage conversion. Another is to use six cartridge valves and an electromagnetic reversing valve to achieve electronically controlled high and low voltage conversion. The electronic control method has become a mainstream conversion method because of its simple operation and no oil leakage during the conversion process. When the existing electronic control mode realizes high and low voltage conversion, it is generally controlled by the operator according to the concrete condition through the electrical switch. If the material condition is good, the low pressure pumping is used; if the material condition is poor, the friction of the concrete when passing through the pipeline The force is also large, so if more pumping pressure is needed to drive, high pressure pumping is used. If there is no manual conversion throughout the pumping operation, the same pumping state is maintained. This way of manually controlling the high and low pressure conversion by the operator, when the concrete pump is started, when the waiting time is long, the resistance of the concrete becomes large, and the pumping state of the concrete pump is required to be high pressure pumping, if the current pumping state For the low-pressure pumping and the operator delays the operation or does not operate the low-pressure pumping to the high-pressure pumping conversion, because the outlet pressure of the concrete pump is low during low-pressure pumping, the concrete cannot be pushed in time, and the pipe blocking phenomenon is easy to occur; If the operator keeps the high and low pressure state for a long time, the oil in the communication chamber is rarely exchanged, resulting in an increase in the oil temperature of the communication chamber and a decrease in the life of the oil and cylinder seals. In view of the problem of improper control of concrete pumping equipment when starting pumping in the related art, an effective solution has not yet been proposed. SUMMARY OF THE INVENTION A primary object of the present invention is to provide a concrete pumping apparatus and a control method and apparatus therefor to solve the problem of improper control of concrete pumping equipment when starting pumping. In order to achieve the above object, according to an aspect of the invention, a method of controlling a concrete pumping apparatus is provided. The control method of the concrete pumping apparatus according to the present invention comprises: detecting a preset pumping state of the first pumping of the concrete pump when the first pumping of the concrete pump is started; and a preset pumping state of the first pumping When pumping for low pressure, detecting whether the working parameter of the second pumping is greater than a preset working parameter value and/or detecting whether the waiting time of the concrete pump is greater than a preset waiting time value, wherein the second pumping is the first pumping The previous pumping; when the working parameter is greater than the preset working parameter value and/or the concrete pump's waiting time is greater than the preset waiting time value, the controlled concrete pump is sent from the low pressure pump to the high pressure pumping conversion; and when the concrete pump is When the high-pressure pumping work is performed for the first preset time, the control concrete pump is sent from the high-pressure pump to the low-pressure pump. Further, detecting whether the second pumped operating parameter is greater than the preset operating parameter value comprises: detecting whether the pumping pressure of the second pumping is greater than the pumping pressure value. Further, detecting whether the second pumping operating parameter is greater than the preset working parameter value comprises: detecting whether the second pumping stirring pressure is greater than a preset stirring pressure value. Further, the control method of the concrete pumping apparatus according to the present invention further includes: detecting a first pumping preset positive and negative pump state when the first pumping is started; and when the first pumping of the preset positive and negative pump When the state is reverse pumping, if the preset pumping state of the first pumping is low pressure pumping, the control concrete pump is sent from the low pressure pump to the high pressure pumping conversion, when the concrete pump is pumped according to the high pressure pumping work for the second preset time, The control concrete pump is sent from the high pressure pump to the low pressure pump. If the preset pumping state of the first pump is high pressure pumping, the control concrete pump is sent from the high pressure pump to the low pressure pump. When the concrete pump is pumped for a third preset time according to the low pressure pump, the concrete pump is controlled to be transferred from the low pressure pump to the high pressure pump. Further, the control method of the concrete pumping apparatus according to the present invention further includes: after the concrete pump is sent from the low pressure pump to the high pressure pumping, if the first preset pumping speed is greater than the second preset pumping speed, the concrete pump is controlled Pumping according to a second preset pumping speed; and if the first preset pumping speed is less than or equal to the second preset pumping speed, the control concrete pump is pumped according to the first preset pumping speed, wherein, the first pre- The pumping speed is the pumping speed set by the concrete pump during low pressure pumping, and the second preset speed is the maximum pumping speed set by the concrete pump during high pressure pumping. In order to achieve the above object, according to another aspect of the present invention, a control device for a concrete pumping apparatus is provided. The control device of the concrete pumping device according to the present invention comprises: a first detecting module, configured to detect a preset pumping state of the first pumping of the concrete pump when the first pumping of the concrete pump is started; the second detecting module And when the preset pumping state of the first pumping is low pressure pumping, detecting whether the working parameter of the second pumping is greater than a preset working parameter value, wherein the second pumping is the first pumping of the first pumping The sending, and/or the third detecting module is configured to detect whether the waiting time of the concrete pump is greater than a preset waiting time value when the preset pumping state of the first pumping is low pressure pumping; the first control module, For controlling the concrete pump to be transferred from the low pressure pump to the high pressure pump when the working parameter is greater than the preset working parameter value, and/or the second control module is used when the waiting time of the concrete pump is greater than the preset waiting time value Controlling the concrete pump from the low pressure pump to the high pressure pumping conversion; and the third control module for controlling the concrete pump to be sent from the high pressure pump to the low pressure pump when the concrete pump is operated according to the high pressure pumping for the first preset time . Further, the second detecting module includes: a first detecting submodule, configured to detect whether the pumping pressure of the second pumping is greater than a preset pumping pressure value. Further, the second detecting module includes: a second detecting submodule, configured to detect whether the second pumping stirring pressure is greater than a preset stirring pressure value. The control device of the concrete pumping device according to the present invention further includes: a fourth detecting module, configured to detect a first pumping preset positive and negative pump state when the first pumping is started; and a fourth control module, configured to: When the preset positive and negative pump status is reverse pumping, if the preset pumping state of the first pumping is low pressure pumping, the control concrete pump is sent from the low pressure pump to the high pressure pumping conversion, when the concrete pump is operated according to the high pressure pumping At the preset time, the control concrete pump is sent from the high pressure pump to the low pressure pump. If the preset pumping state of the first pumping is high pressure pumping, the control concrete pump is sent from the high pressure pump to the low pressure pumping conversion. When the pump is pumped for a third preset time according to low pressure, the concrete pump is controlled to be sent from the low pressure pump to the high pressure pump. Further, the first control module is further configured to: after controlling the concrete pump to be transferred from the low pressure pump to the high pressure pump: when the first preset pumping speed is greater than the second preset pumping speed, the concrete pump is controlled according to the The second preset pumping speed is pumped; and when the first preset pumping speed is less than or equal to the second preset pumping speed, the control concrete pump is pumped according to the first preset pumping speed, wherein the first preset The pumping speed is the pumping speed set by the concrete pump during low pressure pumping, and the second preset speed is the maximum pumping speed set by the concrete pump during high pressure pumping. In order to achieve the above object, according to another aspect of the present invention, a concrete pumping apparatus is provided. The concrete pumping apparatus according to the present invention includes the control device of any concrete pumping apparatus provided by the present invention. By the present invention, a control method of the concrete pumping apparatus comprising the following steps is adopted: detecting the preset pumping state of the first pumping of the concrete pump when the first pumping of the concrete pump is started; when the first pumping is pre-pulled When the pumping state is low pressure pumping, it is detected whether the working parameter of the second pumping is greater than a preset working parameter value and/or whether the waiting time of the concrete pump is greater than a preset waiting time value, wherein the second pumping is The first pumping of the first pumping; when the working parameter is greater than the preset working parameter value and/or the waiting time of the concrete pump is greater than the preset waiting time value, the controlled concrete pump is sent from the low pressure pump to the high pressure pumping conversion; And when the concrete pump is operated according to the high pressure pumping for the first preset time, the control concrete pump is sent from the high pressure pump to the low pressure pumping, which solves the problem that the concrete pump is improperly controlled when the pumping is started, and then the pump is started. The proper effect of controlling the concrete pump at the time of delivery. BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in FIG. In the drawings: Fig. 1 is a schematic diagram of high and low pressure conversion of a concrete pumping apparatus according to the related art; Fig. 2 is a block diagram of a control apparatus of a concrete pumping apparatus according to a first embodiment of the present invention; 2 is a block diagram of a control device of a concrete pumping apparatus according to a second embodiment; FIG. 4 is a flow chart of a control method of a concrete pumping apparatus according to a first embodiment of the present invention; and FIG. 5 is a concrete pumping apparatus according to a second embodiment of the present invention. Control Method Flowchart; and Figure 6 is a flow chart of a control method of a concrete pumping apparatus in accordance with a third embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The invention will be described in detail below with reference to the drawings in conjunction with the embodiments. Before introducing a specific embodiment of the present invention, the principle of high and low pressure conversion of a concrete pumping apparatus will be described. 1 is a schematic diagram of high and low pressure switching of a concrete pumping apparatus according to the related art. As shown in FIG. 1, when the first electromagnet DT1 is energized and the first valve 10 is in the left position, the first cartridge valve 7, the first The second cartridge valve 8 and the third cartridge valve 9 control the chamber through pressure oil lock, and the fourth cartridge valve 4, the fifth cartridge valve 5 and the sixth cartridge valve 6 control the chamber to return oil, and the fourth cartridge The valve 4, the fifth cartridge valve 5 and the sixth cartridge valve 6 are opened under pressure, and the main cylinder has a rod cavity through the fourth cartridge valve 4 and the sixth cartridge valve 6 and the first reversing valve port A and The second reversing valve port B communicates, and the rodless chamber communicates with each other through the fifth cartridge valve 5, and the system is in a low pressure pumping state. When the second electromagnet DT2 is energized and the first valve 10 is in the right position, the fourth cartridge valve 4, the fifth cartridge valve 5 and the sixth cartridge valve 6 control the chamber pressure oil to lock, the first cartridge The valve 7, the second cartridge valve 8 and the third cartridge valve 9 control the chamber to return oil, and the first cartridge valve 7, the second cartridge valve 8 and the third cartridge valve 9 are opened under pressure, the main cylinder The rodless chamber communicates with the first reversing valve port A and the second reversing valve port B through the first cartridge valve 7 and the third cartridge valve 9, and the rod chamber communicates with each other through the second cartridge valve 8. The system is in a high pressure pumping state. High and low pressure switching is achieved by changing the connection of the pumping hydraulic system to change the pressure oil into the cylinder. Therefore, in the concrete pump of the present invention, the high and low voltage switching is also achieved by changing the power loss state of the first electromagnet DT1 and the second electromagnet DT2. First, the concrete pumping apparatus of the present invention will be described. The concrete pumping apparatus according to the present invention includes the control device of any concrete pumping apparatus provided by the present invention, by which the concrete pump is controlled to be pumped according to the high pressure pumping when the pumping is started, thereby eliminating the phenomenon of concrete plugging, and The oil in the communication chamber is exchanged, the oil temperature in the communication chamber is lowered, the utilization rate of the oil is improved, and the cylinder seal is effectively protected. Next, the control device of the concrete pumping apparatus provided by the present invention will be described. 2 is a block diagram of a control device of a concrete pumping apparatus according to a first embodiment of the present invention. As shown in FIG. 2, the control device includes: a first detecting module 10 for starting a first pumping of the concrete pump, Detecting the set pumping state of the first pumping of the concrete pump; the second detecting module 20 is configured to detect whether the working parameter of the second pumping is greater than the pre-measurement when the set pumping state of the first pumping is low-pressure pumping Setting a working parameter value, wherein the second pumping is the first pumping of the first pumping, and/or the third detecting module 30, for detecting when the preset pumping state of the first pumping is low pressure pumping Whether the waiting time of the concrete pump is greater than a preset waiting time value; the first control module 40 is configured to control the concrete pump to be converted from the low pressure pump to the high pressure pumping when the working parameter is greater than the preset working parameter value, and/or Second The control module 50 is configured to control the concrete pump from the low pressure pump to the high pressure pumping conversion when the waiting time of the concrete pump is greater than the preset waiting time value; and the third control module 60 is configured to pump the concrete pump according to the high pressure During the first preset time of operation, the control concrete pump is switched from high pressure pump to low pressure pump. In this embodiment, when the pumping of the concrete pump is started, the preset pumping state of the current pumping is first detected. If the preset pumping state of the current pumping is high pressure pumping, the other switching conditions are met, and the starting is started. When the current preset pumping state is low pressure pumping, it is detected whether the working parameter of the second pumping is normal and/or whether the current waiting time is greater than the preset waiting time when starting pumping. Material time value, when the working parameter of the second pumping is abnormal and/or the current waiting time is greater than the preset waiting time value, the low pressure pumping is converted into a high pressure state, after pumping a set time or number of times, Restore the low pressure pumping status. Optionally, the third detecting module 30 can be a timer, and the waiting time is collected by the timer. When the waiting time exceeds a set value (the set value can be set according to the actual concrete pump and the actual material condition), It shows that the waiting time is longer and the resistance of the concrete becomes larger. At this time, the pumping state of the concrete pump can reduce the probability of the pipe blocking phenomenon when the high pressure pumping, so the control concrete pump is sent from the low pressure pump to the high pressure pumping conversion. Due to the high and low pressure conversion, the oil in the communication chamber is exchanged, the hot oil flows back to the oil tank, and the communication chamber is filled with a lower temperature and cleaner hydraulic oil, which is beneficial to lowering the temperature of the communication chamber and prolonging the seal life of the hydraulic cylinder and the oil life. The oil cleanliness is improved, and the high-pressure pumping can push the concrete in time to reduce the probability of plugging. The control device of this embodiment controls the concrete pumping equipment properly when starting pumping. Preferably, the second detecting module 20 includes: a first detecting sub-module 21, configured to detect whether the pumping pressure of the second pumping is greater than a preset pumping pressure value. Optionally, the first detecting sub-module 21 may be a pressure sensor disposed in the pumping hydraulic system, and the pumping pressure signal is collected by the pressure sensor, and the pumping pressure is related to the concrete material condition, when the pressure sensor detects the previous pumping process. When the pumping pressure reaches the set value (the set value can be set according to the actual concrete pump and the actual material condition), it indicates that the previous pumping is in the low-pressure pumping state and cannot meet the requirements of the material condition, so the concrete pump is controlled by the low pressure. Pumping to high pressure pumping conversion, the control of the concrete pumping apparatus of this embodiment makes the control of the concrete pumping equipment more precise. Preferably, the second detecting module 20 includes: a second detecting sub-module 23, configured to detect whether the second pumping stirring pressure is greater than a preset stirring pressure value. Optionally, the second detecting sub-module 23 may be a pressure sensor disposed in the stirring pressure oil path, and the stirring pressure signal is collected by the pressure sensor, and the stirring pressure is related to the concrete material condition, and the pressure sensor detects the stirring during the previous pumping process. When the pressure reaches the set value (the set value can be set according to the actual concrete pump and the actual material condition), it indicates that the previous pumping is in the low-pressure pumping state and cannot meet the requirements of the material condition, so the control concrete pump is sent by the low-pressure pump. The high pressure pumping conversion, using the control device of the concrete pumping apparatus of this embodiment, makes the control of the concrete pumping equipment more precise. According to the action relationship between the concrete piston and the swing cylinder, the concrete pump also has a positive pump and a reverse pump. The positive pump will draw the material from the hopper and then transport it to the construction site through the boom line. The opposite is true when the pump is reversed. The material will be pumped back to the hopper from the boom line. Under normal circumstances, the concrete pump works in the positive pump. When the concrete is transported to the construction site, when there is a phenomenon such as blockage of the pipe, the concrete pump uses the reverse pump work in a short time, and the concrete is pumped back in the reverse direction, which can function to clear the pipe of the boom. The control device of the concrete pumping apparatus according to the present invention further includes: a fourth detecting module 70, configured to detect a first pumping preset positive and negative pump state of the concrete pump when the first pumping of the concrete pump is started; The fourth control module 80 is configured to: when the positive and negative pump state is the reverse pump, if the pumping state of the second pumping is low pressure pumping, the control concrete pump is sent from the low pressure pump to the high pressure pumping conversion, when the concrete pump is in accordance with the high pressure When the pumping work is for a second preset time, the control concrete pump is sent from the high pressure pump to the low pressure pump. If the pumping state of the second pump is high pressure pumping, the control concrete pump is sent from the high pressure pump to the low pressure pump. When the concrete pump is pumped for a third preset time according to the low pressure pump, the concrete pump is controlled to be transferred from the low pressure pump to the high pressure pump. In this embodiment, the positive and negative pump states of the concrete pump are detected by the fourth detecting module 70. When the positive and negative pump states of the concrete pump are reverse pumping, whether the current pumping state is low pressure pumping or high pressure pumping, To perform high and low voltage conversion, return to the original pumping state after a certain period of conversion. Since the outlet pressure of the concrete pump is small when the pump is reversed, the reverse pumping of the concrete can be completed by the low pressure pumping and the high pressure pumping, but the oil in the communicating chamber can be exchanged by the high and low pressure switching, and the hot oil flow Back to the oil tank, the connecting chamber is filled with a lower temperature and cleaner hydraulic oil, which is beneficial to reduce the oil temperature in the connecting chamber, prolong the life of the hydraulic cylinder seal and oil, and improve the cleanliness of the oil. Preferably, the first control module 40 is further configured to: after controlling the concrete pump to be transferred from the low pressure pump to the high pressure pump: when the first preset pumping speed is greater than the second preset pumping speed, the concrete pump is controlled according to the second The preset pumping speed is pumped; and when the first preset pumping speed is less than or equal to the second preset pumping speed, the controlled concrete pump is pumped according to the first preset pumping speed, wherein the first preset pump The sending speed is the pumping speed set by the concrete pump during low pressure pumping, and the second preset speed is the maximum pumping speed set by the concrete pump at the high pressure pumping. Pumping speed refers to the speed at which the concrete output is set by the operator or by the system based on the pumping parameters. Since the maximum pumping speed in the low pressure pumping state is greater than the maximum pumping speed in the high pressure pumping state (ie, low pressure high speed, high pressure low speed), the control device of the concrete pump of this embodiment is used, when the low pressure pumping state is switched to the high pressure pumping state. Ensure that the pumping speed of low-pressure pumping and high-pressure pumping is equivalent, the speed difference is small, which is good for construction. When the pumping speed set by high-pressure pumping is prevented is higher than the pumping speed set by low-pressure pumping, the constructor cannot follow up in time. Pumping speed. 3 is a block diagram of a control device for a concrete pumping apparatus according to a second embodiment of the present invention. As shown in FIG. 3, the concrete pump control device of this embodiment includes a signal acquisition device 02 and a signal processing device 01, and the signal acquisition device 02 includes Pressure sensor, timer, etc. The signal processing device 01 is connected to the signal acquisition device 02, and one end is connected to the high and low pressure hydraulic system 03 of the concrete pump. The signal acquisition device 02 comprises two pressure sensors, which are arranged in the pumping system and the pressure system of the stirring system, detect the pumping pressure and the stirring pressure, and also include a timer (which can be programmed), recording the last pump stop to The time of this launch. The signal processing device 01 determines whether the concrete pump meets the high and low pressure switching conditions according to the signal collected by the signal collecting device 02 and the current pumping state and the positive and negative pump state of the concrete pump, and controls the concrete pump when the concrete pump meets the high and low pressure switching conditions. The high and low pressure hydraulic system 03 changes the connection mode to achieve high and low voltage conversion. The specific work process is as follows:

1) If the current pumping status is high pressure pumping, and the positive and negative pump status is positive pump, keep the high pressure state unchanged when pumping is started. If the setting state is the high pressure pumping state and it is a positive pump, it will be converted to the low pressure pumping state at this time, which may result in insufficient concrete pushing, which may cause the concrete not to be transported out. Therefore, if it is in the high pressure state and it is a positive pump, no conversion is made.

2) If the current setting pumping state is low pressure pumping, and the positive and negative pump status is positive pump, when starting pumping, judge whether the waiting time exceeds the set value and/or pumping in the previous pumping process. Whether the pressure exceeds the set value and/or whether the stirring pressure in the previous pumping process exceeds the set value, if the waiting time exceeds the set value and/or the pumping pressure in the previous pumping process exceeds the set value and / or the agitation pressure during the previous pumping process exceeds the set value, firstly converted to the high pressure state, and after a set time (or number of times) is pumped, the low pressure pumping state is resumed. According to the actual situation, it can be judged without considering the material time, pumping pressure or stirring pressure. As long as the current setting pumping state is low pressure pumping, and the positive and negative pump state is positive pump, when starting pumping, it is first converted to high pressure. State, after pumping for a set time (or number of times), resume low pressure pumping.

3) If the current positive and negative pump status is reverse pump, the current set pumping status is low pressure pumping, then when pumping is started, it will be converted to high pressure pumping state first, after pumping a set time (or number of times), then Restore low pressure pumping status.

4) If the current positive and negative pump status is reverse pump, the current set pumping status is high pressure pumping, then when pumping is started, it will be converted to low pressure pumping state first, after pumping a set time (or number of times), then Restore high pressure pumping status. The control method of the concrete pumping apparatus provided by the present invention will be described below. 4 is a flow chart of a control method of a concrete pumping apparatus according to a first embodiment of the present invention. As shown in FIG. 4, the method includes the following steps S102 to S114: Step S102, the first pumping of the concrete pump is started, and the preset pumping state of the first pumping of the concrete pump is detected as low pressure pumping. When the preset pumping of the concrete pump is low pressure pumping, step S104 is performed. Otherwise, step S114 is performed. Step S104, detecting whether the working parameter of the second pumping is greater than the preset working parameter value and/or detecting whether the waiting time of the concrete pump is greater than a preset waiting time value, when the working parameter is greater than the preset working parameter value and/or when When the concrete pump waiting time is greater than the preset waiting time value, step S106 is performed; otherwise, step S114 is performed, wherein the second pumping is the previous pumping of the first pumping. Preferably, when the pumping state is low pressure pumping, detecting the second pumping operating parameter comprises detecting the pumping pressure of the concrete pump, and when the pumping pressure is greater than the preset pumping pressure value, performing step S106. When the pumping pressure reaches the set value (the set value can be set according to the actual concrete pump and the actual material condition), indicating that the previous pumping is in the low-pressure pumping state cannot meet the requirements of the material condition, so the concrete pump needs to work. The high pressure pumping state, through the method of this step, makes the control of the concrete pumping equipment more precise. Preferably, when the pumping state is low pressure pumping, detecting the second pumping operating parameter comprises detecting the stirring pressure of the concrete pump, and when the stirring pressure is greater than the preset stirring pressure value, performing step S106. When the stirring pressure reaches the set value (the set value can be set according to the actual concrete pump and the actual material condition), it indicates that the previous pumping is in the low-pressure pumping state and cannot meet the requirements of the material condition, so the concrete pump needs to work at the high pressure. The pumping state, the method of this step makes the control of the concrete pumping equipment more precise. When the waiting time exceeds a set value (the set value can be set according to the actual concrete pump and the actual material condition), it indicates that the waiting time is longer and the concrete resistance becomes larger. At this time, only the concrete pump is pumped. The state is high-pressure pumping to prevent the pipe plugging phenomenon. Therefore, the concrete pump needs to work in the high-pressure pumping state. By this method, the concrete pump will not be blocked when starting, and the control is more precise. Step S106, controlling the concrete pump to be sent from the low pressure pump to the high pressure pump. In step S108, the concrete pump is pumped according to high pressure. Preferably, after the concrete pump is operated according to the high pressure, when the first preset pumping speed is greater than the second preset pumping speed, the concrete pump is pumped according to the second preset pumping speed; and when the first preset pump When the sending speed is less than or equal to the second preset pumping speed, the concrete pump is pumped according to the first preset pumping speed, wherein the first preset pumping speed is the pumping speed set by the concrete pump during the low pressure pumping The second preset speed is the maximum pumping speed set by the concrete pump during high pressure pumping, that is: when the concrete pump is operated according to the high pressure pumping, comparing the pumping speed of the low pressure pumping before the conversion and the high pressure pump after the conversion Send the set maximum pumping speed and run at the lower of the two pumping speeds. According to the preferred embodiment, when the low-pressure pumping state is switched to the high-pressure pumping state, the pumping speed of the low-pressure pumping and the high-pressure pumping is ensured to be equal, and the speed difference is small, which is advantageous for construction and prevents the pump set at the time of high-pressure pumping. When the delivery speed is greater than the pumping speed set by the low pressure pumping, the constructor cannot keep up with the pumping speed in time. Step S110, detecting whether the time of the concrete pump working according to the high pressure pump exceeds the first preset time. When the concrete pump is operated according to the high pressure pumping for more than the first preset time, step S112 is performed, otherwise, the process returns to step S108. After working for a certain period of time according to high pressure pumping, the phenomenon of concrete blockage is eliminated, and the oil in the communication chamber is exchanged. If the pumping work is carried out according to high pressure for a long time, the concrete pumping speed is slow, and the low-pressure pumping is timely converted to speed up. The speed at which concrete is pumped. Step S112, controlling the concrete pump to be transferred from the high pressure pump to the low pressure pump. In step S114, the concrete pump is pumped according to the low pressure. Preferably, the control method of the concrete pumping apparatus according to the present invention further comprises: detecting the preset positive and negative pump state currently pumped by the concrete pump when starting the pumping of the concrete pump; and the current preset positive and negative pump state is When the pump is reversed, and if the pumping state of the current pumping is low pressure pumping, the control concrete pump is sent from the low pressure pump to the high pressure pumping conversion. When the concrete pump is pumped according to the high pressure pumping for the second preset time, the concrete pump is controlled by The high-pressure pump is sent to the low-pressure pumping conversion. If the pumping state of the current pumping is high-pressure pumping, the control concrete pump is sent from the high-pressure pump to the low-pressure pumping. When the concrete pump is pumped for the third preset time according to the low-pressure pumping, The control concrete pump is sent from a low pressure pump to a high pressure pump. This preferred mode is mainly for the case where the positive and negative pump states of the concrete pump are reverse pumping. When the positive and negative pump status of the concrete pump is reverse pump, whether the current pumping status is low pressure pumping or high pressure pumping, high and low pressure switching is required, and after a certain period of time, return to the original pumping state. Since the outlet pressure of the concrete pump is small when the pump is reversed, the reverse pumping of the concrete can be completed by the low pressure pumping and the high pressure pumping, but the oil in the communicating chamber can be exchanged by the high and low pressure switching, and the hot oil flow Back to the oil tank, the connecting chamber is filled with a lower temperature and cleaner hydraulic oil, which is beneficial to reduce the oil temperature in the connecting chamber, prolong the life of the hydraulic cylinder seal and oil, and improve the cleanliness of the oil. 5 is a flow chart of a control method of a concrete pumping apparatus according to a second embodiment of the present invention, and FIG. 6 is a flow chart of a control method of a concrete pumping apparatus according to a third embodiment of the present invention. In FIGS. 5 and 6, P1 is the pumping hydraulic system pressure, P1S is the set pumping hydraulic system pressure value for high and low pressure conversion; P2 is the agitated hydraulic system pressure, P2S is the set agitating hydraulic system pressure value for high and low pressure conversion; The time from the last pump stop to the start of this time is the waiting time, tlS is the set waiting time for high and low pressure conversion; Y positive and negative pumping In the fixed state, Y=0 means back pump; Ζ means high and low pressure setting state, Ζ=0 means low pressure pumping; t2 is pumping time after conversion to high pressure pumping, t2S is set to convert to high pressure Pumping time. As shown in FIG. 5, when any condition of P1>P1S or P2>P2S or P3>P3S is satisfied, if the current pumping state is high pressure pumping, the first electromagnetic valve DT1 and the second electromagnetic as shown in FIG. The state of the valve DT2 is unchanged. If the current pumping state is low pressure pumping, the second solenoid valve DT2 is controlled to be powered, and the first solenoid valve DT1 is de-energized, so that the concrete pump is pumped from low pressure pumping to high pressure pumping, and when t2 >t2S, control the second solenoid valve DT2 to lose power, the first solenoid valve DT1 is energized, so that the concrete pump is pumped from high pressure pumping to low pressure pumping; when P1>P1S, P2>P2S and P3>P3S are not satisfied, If the current positive and negative pump status is positive pump, the state of the first electromagnetic valve DT1 and the second electromagnetic valve DT2 is unchanged. If the current positive and negative pump status is reverse pump, that is, Y=0, the current pumping state is judged. If the current pumping state is low pressure pumping Ζ = 0, the second solenoid valve DT2 is controlled to be powered, and the first solenoid valve DT1 is de-energized, so that the concrete pump is pumped from low pressure pumping to high pressure pumping, and when t2>t2S When the second solenoid valve DT2 is de-energized, the first solenoid valve DT1 is energized, so that the concrete pump is pressurized Sending the steering low pressure pumping, or, if the current pumping state is high pressure pumping, controlling the second solenoid valve DT2 to lose power, the first solenoid valve DT1 is energized, so that the concrete pump is pumped from high pressure pumping to low pressure pumping, and When t2>t2S, the second electromagnetic valve DT2 is controlled to be powered, and the first electromagnetic valve DT1 is de-energized, so that the concrete pump is pumped from the low pressure pump to the high pressure pump. As shown in Fig. 6, when the three conditions of P1>P1S, P2>P2S and P3>P3S are satisfied, if the current pumping state is high pressure pumping, such as the state of the first solenoid valve DT1 and the second solenoid valve DT2 No change, if the current pumping state is low pressure pumping, the second solenoid valve DT2 is controlled to be powered, and the first solenoid valve DT1 is de-energized, so that the concrete pump is pumped from low pressure pumping to high pressure pumping, and when t2>t2S, Controlling the second solenoid valve DT2 to lose power, the first solenoid valve DT1 is energized, so that the concrete pump is pumped from high pressure pumping to low pressure pumping; when any one of P1>P1S, P2>P2S and P3>P3S is not satisfied, If the current positive and negative pump status is positive pump, the state of the first electromagnetic valve DT1 and the second electromagnetic valve DT2 is unchanged. If the current positive and negative pump status is reverse pump, that is, Y=0, the current pumping state is judged. If the current pumping state is low pressure pumping Ζ = 0, the second solenoid valve DT2 is controlled to be powered, and the first solenoid valve DT1 is de-energized, so that the concrete pump is pumped from low pressure pumping to high pressure pumping, and when t2>t2S When the second electromagnetic valve DT2 is controlled to lose power, the first electromagnetic valve DT1 is energized, so that the concrete pump is High-pressure pumping to low-pressure pumping, or, if the current pumping state is high-pressure pumping, control the second solenoid valve DT2 to lose power, the first solenoid valve DT1 is energized, so that the concrete pump is pumped from high-pressure pumping to low-pressure pumping And when t2>t2S, the second solenoid valve DT2 is controlled to be energized, and the first solenoid valve DT1 is de-energized, so that the concrete pump is pumped from the low pressure pump to the high pressure pump. As can be seen from the above description, the use of embodiments of the present invention allows for more appropriate and accurate control of the concrete pumping equipment when pumping is initiated. It should be noted that the steps shown in the flowchart of the accompanying drawings may be performed in a computer system such as a set of computer executable instructions, and, although the logical order is shown in the flowchart, in some cases, The steps shown or described may be performed in an order different than that herein. Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general-purpose computing device, which can be concentrated on a single computing device or distributed over a network composed of multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device, such that they may be stored in the storage device by the computing device, or they may be separately fabricated into individual integrated circuit modules, or they may be Multiple modules or steps are made into a single integrated circuit module. Thus, the invention is not limited to any specific combination of hardware and software. The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims

Claim

A control method for a concrete pumping device, comprising:

Detecting a preset pumping state of the first pumping of the concrete pump when the first pumping of the concrete pump is started;

When the preset pumping state of the first pumping is low pressure pumping, detecting whether the working parameter of the second pumping is greater than a preset working parameter value and/or detecting whether the waiting time of the concrete pump is greater than Presetting a waiting time value, wherein the second pumping is the previous pumping of the first pumping;

When the working parameter is greater than the preset working parameter value and/or the waiting time of the concrete pump is greater than the preset waiting time value, controlling the concrete pump to be converted from a low pressure pump to a high pressure pumping; as well as

The concrete pump is controlled to be converted from a high pressure pump to a low pressure pump when the concrete pump is operated for a first predetermined time according to high pressure pumping.

2. The method of controlling a concrete pumping apparatus according to claim 1, wherein detecting whether the operating parameter of the second pumping is greater than a preset operating parameter value comprises:

It is detected whether the pumping pressure of the second pumping is greater than a preset pumping pressure value.

The control method of the concrete pumping device according to claim 1, wherein detecting whether the working parameter of the second pumping is greater than a preset working parameter value comprises:

It is detected whether the stirring pressure of the second pumping is greater than a preset stirring pressure value.

4. The method of controlling a concrete pumping apparatus according to claim 1, further comprising: detecting a first forward pumping state of the first pumping when the first pumping is initiated; When the first pumped preset positive and negative pump state is a reverse pump,

If the preset pumping state of the first pumping is low pressure pumping, controlling the concrete pump to be sent from the low pressure pump to the high pressure pumping, when the concrete pump is pumped according to the high pressure pumping for a second preset time, Controlling the concrete pump from high pressure pumping to low pressure pumping conversion,

If the preset pumping state of the first pumping is high pressure pumping, controlling the concrete pump to be transferred from the high pressure pump to the low pressure pumping, when the concrete pump is pumped according to the low pressure pumping for a third preset time, The concrete pump is controlled to be converted from a low pressure pump to a high pressure pump.

5. The method of controlling a concrete pumping apparatus according to claim 1, further comprising: after the concrete pump is sent from a low pressure pump to a high pressure pump,

If the first preset pumping speed is greater than the second preset pumping speed, controlling the concrete pump to pump according to the second preset pumping speed;

If the first preset pumping speed is less than or equal to the second preset pumping speed, controlling the concrete pump to pump according to the first preset pumping speed,

Wherein the first preset pumping speed is a pumping speed set by the concrete pump during low pressure pumping, and the second preset speed is a maximum pump set by the concrete pump during high pressure pumping Send speed.

6. A control device for a concrete pumping device, comprising:

a first detecting module, configured to detect a preset pumping state of the first pumping of the concrete pump when the first pumping of the concrete pump is started;

a second detecting module, configured to detect, when the first pumping preset pumping state is low pressure pumping, whether the working parameter of the second pumping is greater than a preset operating parameter value, wherein the second pump Sending to the first pumping of the first pumping, and/or the third detecting module, for detecting the concrete pump when the first pumping preset pumping state is low pressure pumping Whether the material time is greater than the preset waiting time value; the first control module is configured to control the concrete pump to be converted from the low pressure pump to the high pressure pumping when the working parameter is greater than the preset working parameter value, and/ Or a second control module, configured to control the concrete pump to be converted from a low pressure pump to a high pressure pump when the waiting time of the concrete pump is greater than the preset waiting time value;

The third control module is configured to control the concrete pump to be converted from a high pressure pump to a low pressure pump when the concrete pump is operated according to the high pressure pumping for a first preset time.

The control device of the concrete pumping device according to claim 6, wherein the second detecting module comprises:

The first detecting submodule is configured to detect whether the pumping pressure of the second pumping is greater than a preset pumping pressure value.

The second detecting submodule is configured to detect whether the second pumping stirring pressure is greater than a preset stirring pressure value.

The control device of the concrete pumping device according to claim 6, further comprising: a fourth detecting module, configured to detect the preset positive of the first pumping when the first pumping is started Anti-pump status;

a fourth control module, configured to: when the preset positive and negative pump state is a reverse pump,

10. The control device for a concrete pumping apparatus according to claim 6, wherein the first control module is further configured to: after controlling the concrete pump to be transferred from a low pressure pump to a high pressure pump,

Controlling the concrete pump to pump according to the second preset pumping speed when the first preset pumping speed is greater than the second preset pumping speed;

Controlling the concrete pump to pump according to the first preset pumping speed when the first preset pumping speed is less than or equal to the second preset pumping speed,

A concrete pumping apparatus comprising the control device of the concrete pumping apparatus according to any one of claims 6 to 10.