WO2013082976A1

WO2013082976A1 - Control apparatus, control method and concrete pump for viscous body pumping mechanism

Info

Publication number: WO2013082976A1
Application number: PCT/CN2012/082694
Authority: WO
Inventors: 万梁; 陈祺; 王佳茜
Original assignee: 中联重科股份有限公司; 湖南中联重科专用车有限责任公司
Priority date: 2011-12-07
Filing date: 2012-10-10
Publication date: 2013-06-13
Also published as: CN102434443B; CN102434443A

Abstract

A control apparatus, a control method and a concrete pump for a viscous body pumping mechanism. The control apparatus comprises at least one function device for implementing at least one corresponding function, at least one detection unit for detecting corresponding operation performance of the at least one function device after the function device implements the at least one corresponding function, and a control unit (12) which is separately connected with the at least one function device and the at least one detection unit. The control method comprises the following steps: controlling at least one function device according to the position of a piston in the pumping mechanism, so as to implement at least one corresponding function, detecting, in real time, corresponding operation performance of the at least one function device after the function device implements the at least one corresponding function, and according to a detection result, adjusting a period of time from receiving a piston position signal (i1, i2, i3) to transmitting a control signal to the at least one function device. The concrete pump comprises the control apparatus. The control apparatus and the method can achieve optimal pumping performance under any working condition.

Description

Control device, control method and concrete pump for viscous body pumping mechanism

The present invention relates to a viscous body pumping mechanism, and more particularly to a control device, a control method for a viscous body pumping mechanism, and a concrete pump using the same. Background technique

As shown in Figs. 1 and 2, the concrete pumping mechanism of the related art is composed of a pumping unit 1, a pair of cylinders 6 and 7, a hopper 8 and a S wide (i.e., a concrete distribution width) 9; a pumping unit 1 By the main oil pump 2 and the auxiliary oil pump 13, the main wide group 3 and the auxiliary wide group 15, a pair of main cylinders 4 and 5, a pair of sub-cylinders 16 and 17, the proximity switches 10 and 11, the control unit 12 and the accumulator 14 , wherein the main oil pump 2 is equipped with a pressure sensor, and the pressure sensor detects the pressure of the main oil pump 2.

The concrete pump works as follows: The cylinders 6 and 7 draw concrete from the hopper 8, and then pour it into the working position through a duct (not shown). The pistons of the blowers 6 and 7 alternately reciprocate under the control of the master cylinders 4 and 5; the S9 connects one of the blowers 6 and 7 to the transfer pipe, and the other directly connects to the hopper 8 and draws concrete therefrom; The cylinders 16 and 17 are driven by the drive shaft to swing around S 9 . Through the coordinated action of S-wide 9 and the cylinders 6 and 7, the concrete flows approximately continuously in the conveying pipe.

Concrete flows in the duct in two directions, one flowing from the blow 6 or 7 to the end of the transfer pipe (positive pump); the other flow direction is from the transfer pipe to the blow 6 or 7 (counter pump) The flow direction of the two concretes depends on the position of the S9 when the cylinders 6 and 7 are moving.

The working process of the above concrete pump pumping unit is as follows:

The main oil pump 2 supplies pressurized oil to drive a pair of main cylinders 4 and 5 through the main wide group 3, and the auxiliary oil pump 13 supplies pressurized oil to drive a pair of sub-cylinders 16 and 17 through the sub-wide group 15. If the pressure oil of the main oil pump 2 enters the rod chamber 4B of the main cylinder 4 or the rod chamber 5B of the main cylinder 5, the rodless chamber of the main cylinder 4 4A is connected to the rodless chamber 5A of the main cylinder 5 through a pipeline. If the pressure oil of the main oil pump 2 enters the rodless chamber 4A of the main cylinder 4 and the rodless chamber 5A of the main cylinder 5, the rod chamber 4B of the main cylinder 4 The rod chamber 5B of the main cylinder 5 is in communication with the tube. In one working cycle, the pressurized oil enters from the rod chamber 5B of the main cylinder 5, and is discharged from the rod chamber 4B of the main cylinder 4, at which time the piston rod of the main cylinder 5 is retracted, and the piston rod of the main cylinder 4 is extended; It enters from the rodless chamber 17A of the sub-cylinder 17 and is discharged from the rodless chamber 16A of the sub-cylinder 16. At this time, the piston rod of the sub-cylinder 16 is retracted, and the piston rod of the sub-cylinder 17 is extended, and S wide 9 is swung.

When the main cylinder 4 piston passes through the proximity switch 10, the proximity switch 10 signals the control unit 12, and the control unit 12 signals the main wide group 3 and the sub-wide group 15 in a fixed logic sequence (signaling to the main wide group 3 at intervals of t10 seconds) Then, after t20 seconds, the signal is sent to the sub-group 15, tlO and tlO are fixed time. This is the fixed logic order of the related technology). When the main wide group 3 responds to the signal from the control unit 12, the pressurized oil enters from the rod chamber 4B of the main cylinder 4, is discharged from the rod chamber 5B of the main cylinder 5, and the main cylinders 4 and 5 start to reverse, the main cylinder 5 piston rod Starting to extend, the piston rod of the main cylinder 4 begins to retract, driving the cylinders 6 and 7 to reverse the piston; when the auxiliary manifold 15 responds to the signal from the control unit 12, the pressurized oil enters from the rodless chamber 16A of the sub-cylinder 16 from The rodless chamber 17A of the sub-cylinder 17 is discharged, the sub-cylinders 16 and 17 start to reversing, the piston rod of the sub-cylinder 16 is extended, and the piston rod of the sub-cylinder 17 is retracted, causing the S-wide 9 to swing.

In the related art, the main oil pump 2 is not artificially changed during the commutation process, the proximity switches 10 and 11 on the main cylinders 4 and 5 are fixed in position, the main cylinder 4 piston is moved to the proximity switch 10, or the main cylinder 5 piston is moved to the proximity switch. At 11 o'clock, the proximity switch 10 or 11 sends a signal to the control unit 12, at which time the control unit 12 receives the signal sent by the proximity switch, sends a signal to the main wide group 3 every t10 seconds, and then sends a signal to the sub-wide after t20 seconds. Group 15, tlO and t20 are fixed times. In summary, in the related art, the control unit controls the time between transmitted signals in a fixed logical sequence, and the transmission time is fixed.

The control system used in the related art has the following problems: 1. In the main wide group 3, the commutation width is from a working position to another working position, and the transition position is required. Generally, the commutation is wide from the working position. The flow area of the abutment is reduced, and the flow rate of the main oil pump 2 does not match the flow capacity, resulting in a pressure shock. 2. When the pistons of the main cylinders 4 and 5 are reversed, the direction of the piston speed is abrupt, because the flow has inertia, so when the piston is reversed, the hydraulic system will generate a pressure shock. 3. The signal port position is fixed, and the proximity switches 10 and 11 send signals to the control unit 12 and the control unit 12 to signal the logic of the main wide group 3, and the pumping speed and load pressure are uncertain, if the piston moves Before the end of the main cylinder, the main wide group 3 responds to the signal from the control unit 12 to control the main cylinder reversing, the working stroke is shortened, the piston movement is not in place; if the main piston moves to the end of the main cylinder, the control unit 12 has not signaled If the main wide group 3 causes the main cylinder to not change direction, a "crash cylinder" phenomenon will occur. 4. The control unit 12 signals the main wide group 3 and the control unit 12 to signal to the sub-wide group 15 to be logically fixed, and the working conditions such as the pumping speed and the load pressure are uncertain, if the main cylinders 4 and 5 move and the sub-cylinder 16 If the motion is not matched with the 17 movement, the concrete in the cylinder is pumped into the hopper, and the concrete in the conveying pipe is sucked into the cylinder, and the concrete in the hopper is splashed, and the wear of the wearing parts is accelerated. These problems can reduce pumping performance and shorten equipment life. Summary of the invention

The present invention is directed to providing a control device for improving the pumping performance of a concrete pump.

The control device of the present invention is applied to a concrete pumping mechanism, which comprises:

At least one functional device for implementing at least one corresponding function;

At least one detecting unit, configured to detect a corresponding running performance after the at least one functional component implements the at least one corresponding function;

a control unit, respectively connected to the at least one functional device and the at least one detecting unit, controlling the at least one functional device to implement the at least one corresponding function according to a position of a piston in the pumping mechanism, and according to the detecting unit The feedback signal adjusts the time at which the control signal is sent to the at least one functional device to optimize the corresponding operational performance.

Preferably, the at least one functional device comprises at least one of a main oil pump displacement adjusting device, a main wide group and a secondary wide group; respectively, the operating performance is at least one of the following three types: The pressure shock of the hydraulic system, whether the main cylinder piston hits the cylinder or is in place, and whether the reversing of the cylinder piston is consistent with the wide distribution of the concrete.

Preferably, the control device further includes an expert library for storing a time when the control unit sends a control signal to the function device under various operating conditions.

Preferably, the control device further includes a working condition collecting unit for detecting current working condition information; the control unit includes a working condition matching module, configured to find the closest from the expert database according to the detected working condition information. The time at which the control signal is sent.

Preferably, the control unit comprises an update module, configured to update the current operating condition information and the adjusted time for transmitting the control signal to the at least one functional device to the expert library.

Preferably, the operating condition information includes a pumping speed and a system pressure.

Preferably, the position of the piston is the position of the cylinder piston or the position of the master cylinder piston. The present invention also provides a concrete pump including a pumping mechanism and a control device thereof, and the control device of the pumping mechanism employs any of the above-described control devices.

The present invention also provides a control method for improving the pumping performance of a viscous pumping mechanism, comprising the steps of:

Controlling at least one functional device according to the position of the piston in the pumping mechanism to achieve at least one corresponding function;

Real-time detection of the corresponding operational performance after the at least one corresponding function is achieved; and adjusting the time from receipt of the piston position signal to transmission of the control signal to the at least one functional device based on the detection result.

Preferably, the at least one functional device comprises at least one of a main oil pump displacement adjusting device, a main wide group and a secondary wide group; respectively, the operating performance is at least one of the following three types: pressure of the hydraulic system Whether the impact, the master cylinder piston hits the cylinder or is in place, and the reversal of the cylinder piston is consistent with the wide distribution of the concrete.

Preferably, the step of obtaining a time to transmit a control signal to the functional device from the expert library is further included. Preferably, the step of detecting the current operating condition information and finding the closest time to transmit the control signal from the expert library is further included.

Preferably, the step of updating the current operating condition information and the adjusted time from receiving the piston position signal to transmitting the control signal to the at least one functional device to the expert library is further included.

Preferably, the position of the piston is the position of the cylinder piston or the position of the master cylinder piston. Preferably, the operating condition information includes a pumping speed and a system pressure.

Compared with the related art, the control device and method of the present invention adaptively adjusts the time for transmitting a control signal to a functional component by using feedback information, and can automatically adjust the pumping mechanism to an optimal state under any working condition, so that it can be in any working condition. Under the pumping performance is optimal. DRAWINGS

Fig. 1 is a schematic view showing the structure of a concrete pump pumping mechanism in the related art.

2 is a schematic view showing the working process of a concrete pump pumping unit in the related art.

3 is a schematic block diagram of a control device in some embodiments of the present invention.

4 is a control flow diagram of a control method in some embodiments of the present invention. detailed description

The present invention will be further described in detail below in conjunction with the specific embodiments and the accompanying drawings.

Figure 3 illustrates a control device in some embodiments of the invention. Since the configuration of the concrete pump pumping unit is numerous, it is explained here in conjunction with the configuration shown in Fig. 2.

As shown in FIG. 3, the control device includes: a control unit 12, and three functional devices connected thereto, three detection units, and an expert library 21. The three functional devices are respectively a displacement adjustment device of the main oil pump 2, a main wide group 3 and a sub-wide group 15 in some embodiments, wherein the main wide group 3 is used to change the direction of the pressure oil in the main cylinders 4 and 5, The sub-wide group 15 is for changing the direction of the pressure oil in the sub-cylinders 16 and 17, and the pressure of the pressure oil can be reduced by reducing the displacement of the main oil pump 2. The first detecting unit 18 is for detecting a pressure shock of the hydraulic system, and the second detecting unit 19 is for detecting the main oil cylinder 4 Whether the 5 piston hits the cylinder or is in position, the third detecting unit 20 is configured to detect whether the commutation of the pistons 6 and 7 is consistent with the movement of the concrete distribution width 9. The control unit 12 controls the main oil pump 2, the main wide group 3 and the sub-wide group 15 according to the positions of the main cylinders 4 and 5 to complete the corresponding functions, and adjusts the signals to the main oil pump 2 according to the signals fed back by the three detecting units 18-20. The time when the main wide group 3 and the sub-wide group 15 send control signals to reduce the hydraulic system pressure shock, avoid the main cylinder 4 and 5 pistons colliding with the cylinder or not, and prevent the concrete in the cylinders 6 and 7 from being pumped into The purpose of the hopper 8.

It can be understood that, in some embodiments, the control device may also include only one or two of the three functions of the displacement adjustment device of the main oil pump 2, the main wide group 3 and the sub-wide group 15, and correspondingly, Only one or two of the three detection units 18-20 are included, which also achieves the purpose of improving the corresponding performance. It will also be appreciated that in some embodiments, the control unit 12 can also control the main oil pump 2, the main wide group 3, and the sub-wide group 15 to perform the corresponding functions based on the positions of the cylinders 6 and 7.

In some embodiments, two proximity switches 10 and 11 can be used to detect the positions of the master cylinders 4 and 5, respectively. When the master cylinder 4 piston passes the proximity switch 10 or the master cylinder 5 piston passes the proximity switch 11, the proximity switch 10 or 11 The signal is sent to the control unit 12, and the control unit 12 sends a signal il to the main oil pump 2 and a delay time t2 to send a signal i2 to the main wide group 3, and a delay time t3 sends a signal i3 to the sub-group 15 to delay the main oil pump respectively. 2 Reduce the displacement, the cylinder 6 and 7 piston reversing, the concrete distribution width 9 to the corresponding cylinder 6 or 7 switch. More specifically, after the main oil pump 2 responds to the signal il, the displacement of the pressure oil is reduced; after the main wide group 3 responds to the signal i2, the pressure oil supplied from the main oil pump 2 passes through the main wide group 3 to reverse the main cylinders 4 and 5 pistons. Then, the pistons of the cylinders 6 and 7 are reversed; after the sub-group 15 responds to the signal i3, the pressure oil supplied by the auxiliary oil pump 13 reverses the pistons of the sub-cylinders 16 and 17 through the sub-group 15 to drive the concrete distribution width 9 Swing, switch to the corresponding cylinder 6 or 7. It can be understood that since the two main cylinders 4 and 5 have the same specifications, the above control function can also be realized only by providing one proximity switch at each of the main cylinders near the stroke of the piston; only one in the middle of one main cylinder is provided. Proximity switch can also achieve the above control System function. In addition, other position sensors can be used to detect the position of the piston.

In the concrete pump operation, when the main cylinders 4 and 5 are reversed, the hydraulic system has a large pressure shock. In some embodiments, the control device detects the positions of the two main cylinders 4 and 5 by real time, when the main cylinders 4 and 5 are close to each other. At the end of the stroke, the displacement of the main oil pump 2 is lowered to achieve the purpose of reducing the pressure shock. The master cylinders 4 and 5 commutation times determine the strokes of the master cylinders 4 and 5, and the commutation time of the master cylinders 4 and 5 can be adjusted by adjusting the timing of the control unit 12 signaling i2 to the main manifold 3, avoiding the master cylinders 4 and The 5 piston crash cylinder is not in position, so that the movement strokes of the main cylinders 4 and 5 are optimized. By adjusting the control unit 12 to signal i3 to the sub-wide group 15 the time can be adjusted to adjust the concrete distribution width 9 to start the swing time, so that the concrete distribution width 9 swing time matches the cylinder 6 and 7 piston commutation time.

In order to achieve optimum pumping performance under any operating conditions, the signals il, i2 and i3 have no fixed logic sequence. In other words, the signals il, i2 and i3 have no fixed sequence, and the transmission intervals are not necessarily equal. Instead, the corresponding delay times t1, t2, t3 are initially given, and then according to the actual working conditions. Adapt to the optimal logical sequence. More specifically, the first detecting unit 18 detects the pressure shock of the hydraulic system in real time, and corrects the value of t1 when the pressure shock is large (beyond the set value) to adjust the time at which the main oil pump 2 starts to reduce the displacement; The unit 19 detects in real time whether the main cylinders 4 and 5 pistons collide or are not in position, and corrects the value of t2 when the main cylinders 4 and 5 pistons collide with the cylinder or are not in position; the third detecting unit 20 detects the commutation of the pistons 6 and 7 in real time. It is consistent with the movement of the distribution width 9. When the value is not correct, the value of t3 is corrected, and the concrete pump is optimally pumped by continuously correcting the values of tl, t2 and t3. It can be understood that the first detecting unit 18 can be implemented by a pressure sensor installed on the main oil pump 2; the second detecting unit 19 can detect whether the cylinder is struck by a pressure sensor, and can adopt a position sensor (such as a proximity switch, but is not limited thereto). Whether the piston is in place; the third detecting unit 20 can respectively detect the position of the pistons 6 and 7 and the position of the concrete distribution width 9 by the position sensor, thereby judging whether their movements are consistent, or judging whether they are back pumping or not. Whether the movements are consistent; etc., are not limited to the enumerated methods. In some embodiments, the expert library 21 stores empirical values of t1, t2, and t3 under various operating conditions (the values of t1, 12, and t3 are used to determine the transmission times of the control signals il, i2, and i3, respectively). Specifically, through experiments or simulations, under various simulation conditions (including pumping speed, pumping pressure, etc.), the values of tl, t2 and t3 can be reasonably adjusted to optimize the pumping performance, and the simulation conditions and The values of the corresponding tl, 12 and t3 in this case are stored in the expert library 21.

In some embodiments, the control device further includes a condition acquisition unit for detecting condition information. In some embodiments, the control unit 12 includes a condition matching module and an update module, and the working condition matching module is configured to find the best matching tl, t2, and t3 from the expert library 21 according to the working condition information detected by the working condition collecting unit. Experience value. Due to the complexity of the actual working conditions and the limited test or simulation data, the information stored in the expert library 21 cannot cover all working conditions. The empirical value cannot guarantee the optimal pumping performance, so the empirical value stored by the expert library 21 is only Used to provide initial values to tl, 12, and t3 during actual pumping operations. The update module is configured to store the current operating condition information and the adjusted time of transmitting the control signal adapted to the current operating condition into the expert library.

In some embodiments, the expert library may not be set, and the operator may set initial values for tl, t2, and t3 through the human machine interface according to the real-time working condition information.

In some embodiments, the control unit 12 can be a PLC or a microprocessor. Any of the above control devices can be applied to various existing concrete pumps for the purpose of improving pumping performance.

Figure 4 shows a flow chart of a control method in some embodiments. As shown in FIG. 4, when the concrete pump starts to work, the control unit 12 performs expert library optimization according to the detected load pressure and pumping speed, and initially determines the time for transmitting the signals il, i2, and i3, if the control unit 12 When it is detected that the hydraulic system has a pressure shock, the time for transmitting the signal il is automatically adjusted (ie, the value of the correction t1), and if the control unit 12 detects that the main cylinder piston is hitting the cylinder or is not in position, the time for transmitting the signal i2 is automatically adjusted (ie, the correction of t2 is performed). Value), if the control unit 12 detects that the cylinder piston commutation does not match the concrete distribution width 9 motion, the time for transmitting the signal i3 is automatically adjusted (ie, the value of the correction t3) until the pumping performance is optimal. After the optimization is reached, the expert database is updated, and the working condition information and the working condition are stored. The time at which signals il, i2, and i3 are sent. When the operating conditions change, the control unit 12 repeats the above work.

It will be appreciated that the invention is not limited to concrete pumps, and other viscous pumping mechanisms are also suitable.

The above description is only a preferred embodiment of the present invention, and the scope of protection of the present invention is not limited to the above embodiments, and all the technical solutions under the inventive concept belong to the protection scope of the present invention. It should be noted that those skilled in the art will be able to devise a number of modifications and refinements without departing from the principles of the invention.

Claims

Rights request

A control device for a viscous body pumping mechanism, comprising: at least one functional device for implementing at least one corresponding function;

2. The control device according to claim 1, wherein: the at least one functional device comprises at least one of a main oil pump displacement adjusting device, a main wide group and a secondary wide group; respectively, the operating performance is At least one of the following three types: the pressure shock of the hydraulic system, whether the main cylinder piston hits the cylinder or is in position, and whether the reversing of the piston of the cylinder is consistent with the movement of the concrete distribution.

3. The control device according to claim 1, wherein: the control device further comprises an expert library for storing a time when the control unit sends a control signal to the function device under various operating conditions.

The control device according to claim 3, wherein: the control device further comprises a working condition collecting unit for detecting current working condition information; the control unit includes a working condition matching module, configured to detect The working condition information, find the closest time to send the control signal from the expert database.

5. The control device according to claim 4, wherein: said control unit comprises And an update module, configured to update current operating condition information and the adjusted time for transmitting the control signal to the at least one functional device to the expert library.

6. The control device according to claim 1, wherein the position of the piston is a position of a blow-by piston or a position of a master cylinder piston.

A concrete pump comprising a pumping mechanism and a control device thereof, wherein: the control device of the pumping mechanism employs the control device according to any one of claims 1-6.

8. A control method for improving pumping performance of a viscous pumping mechanism, comprising the steps of:

9. The control method according to claim 8, wherein: the at least one functional device comprises at least one of a main oil pump displacement adjusting device, a main wide group and a sub-wide group; respectively, the operating performance is At least one of the following three types: the pressure shock of the hydraulic system, whether the main cylinder piston hits the cylinder or is in position, and whether the reversing of the piston of the cylinder is consistent with the movement of the concrete distribution.

10. The control method according to claim 8, further comprising the step of acquiring a time for transmitting a control signal to the function device from the expert library.

11. The control method according to claim 10, further comprising the step of detecting current operating condition information and finding the closest time of transmitting the control signal from the expert database.

12. The control method according to claim 11, further comprising: updating the current operating condition information and the adjusted time from receiving the piston position signal to transmitting the control signal to the at least one functional device to the expert database. A step of.

13. The control method according to claim 8, wherein the position of the piston is a position of a cylinder piston or a position of a master cylinder piston.