WO2014000378A1

WO2014000378A1 - Concrete pumping device, and travel control apparatus and method for series oil cylinder

Info

Publication number: WO2014000378A1
Application number: PCT/CN2012/085837
Authority: WO
Inventors: 万梁; 李四中; 王佳茜; 彭志强; 李仁玉
Original assignee: 中联重科股份有限公司
Priority date: 2012-06-28
Filing date: 2012-12-04
Publication date: 2014-01-03
Also published as: CN102705282A; CN102705282B

Abstract

A concrete pumping device, and a travel control apparatus and method for a series oil cylinder. The travel control apparatus for a series oil cylinder comprises: a first position detection unit (30) mounted on a first oil cylinder (10) and used for detecting a first motion position (X) of a piston (12) in real time and generating a first motion position signal; a second position detection unit (40) mounted on a second oil cylinder (20) and used for detecting a second motion position (Y) of a piston (22) in real time and generating a second motion position signal; and a controller (50) connected to the first position detection unit (30) and the second position detection unit (40), the controller (50) receiving the first motion position signal and the second motion position signal, and controlling a volume of a communicating cavity according to a predetermined control policy, so as to control a travel of the series oil cylinder. According to the travel control apparatus, the travel of the oil cylinder can be adjusted in time.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the field of cylinder control, and more particularly to a concrete pumping apparatus, a stroke control apparatus and method for a series cylinder. BACKGROUND OF THE INVENTION As shown in Fig. 1, Chinese patent CN 101776107 A discloses a stroke control device for a series cylinder. Referring to FIG. 1, the first cylinder 10 and the second cylinder 20 are disposed in series, and the rodless chamber is connected to the valve 60, and the pressure oil outputted by the pump 80 enters the rodless chamber of the first cylinder 10 or the second cylinder 20 through the valve 60. . The stroke control device forms a control region using two proximity switches 30' and 40' (where the two proximity switches 30' and 40' are offset by a certain distance D) to detect the strokes of the first cylinder 10 and the second cylinder 20. . The positional relationship between the cylinder stroke and the control region (for example, the control region is not reached, the control region is reached, and the control region is exceeded), and the communication states of the two first cylinders 10 and the second cylinder 20 are connected in series (including The rod cavity is connected and the rodless chamber is connected. The oil volume state (including too small, suitable, excessive) of the communication chamber is determined to adjust the volume of the communication chamber to control the cylinder stroke in the control region. For example, when the volume of the fluid in the communication chamber is excessive, the controller 50 controls the charge and drain valve 70 so that the communication chamber is connected to the oil tank, thereby draining the communication chamber. When the volume of the fluid in the communication chamber is too small, the controller 50 controls the fill valve 70 so that the communication chamber is connected to the pressure oil of the system to replenish the communication chamber. When the fluid volume of the communication chamber is appropriate, the controller 50 controls the fill valve 70 to disconnect the communication chamber from the outside. Since the accuracy of the prior art stroke control is ensured by the distance D of the proximity switches 30' and 40', the distance D is affected by the installation error, thereby affecting the accuracy of the stroke control, resulting in unstable control accuracy. problem. In addition, the prior art must detect the cylinder stroke in the previous cylinder motion cycle, and then adjust the stroke in the next cycle. Therefore, the stroke of the cylinder cannot be adjusted in time, and may occur because the actual movement stroke of the cylinder exceeds the predetermined stroke. The problem of hitting the cylinder also causes the problem that the stroke is too short and the efficiency is lowered. SUMMARY OF THE INVENTION The present invention is directed to a concrete pumping device, a stroke control device and a method for a series cylinder to solve the problem that the stroke of the cylinder cannot be adjusted in time in the prior art. In order to solve the above technical problem, according to an aspect of the invention, a stroke control device for a series cylinder is provided, wherein the series cylinder includes a first cylinder and a second cylinder in series, the piston of the first cylinder and the piston of the second cylinder are both a movement between the first position and the second position, wherein the distance between the second position and the first position is a set stroke, the cavity in which the first cylinder and the second cylinder are connected in series is a communication cavity, and the stroke control device comprises: a position detecting unit mounted on the first cylinder for detecting a first movement position of the piston of the first cylinder in real time and generating a first movement position signal; and a second position detecting unit mounted on the second cylinder for real-time detection a second moving position of the piston of the second cylinder and generating a second moving position signal; the controller is connected to the first position detecting unit and the second position detecting unit, and the controller receives the first moving position signal and the second moving position signal, The volume of the communication chamber is controlled according to a predetermined control strategy to control the stroke of the series cylinder. Further, the difference between the second position and the first motion position is a first value, and the difference between the second position and the second motion position is a second value, and the sum of the first value and the second value is an actual stroke, the controller Calculate the difference between the set stroke and the actual stroke; the controller controls the communication cavity replenishment when the difference is greater than zero, and the controller controls the communication chamber to drain when the value difference is less than zero. Further, a first test hole is defined in the piston and the piston rod of the first oil cylinder, and a second test hole is opened in the piston and the piston rod of the second oil cylinder, and at least a portion of the first position detecting unit is disposed in the first test hole At least a portion of the second position detecting unit is bored in the second test hole. Further, the stroke control device further includes a fill and drain valve connected to the controller, and the controller controls the fill and drain valve to replenish or drain the communication chamber. According to another aspect of the present invention, there is provided a concrete pumping apparatus including a pumping device including a series cylinder and a stroke control device for controlling a series cylinder, and the stroke control device is any one of the above stroke control devices . According to still another aspect of the present invention, a stroke control method for a series cylinder is provided, wherein the series cylinder includes a first cylinder and a second cylinder in series, the piston of the first cylinder and the piston of the second cylinder are both in the first position and The movement between the two positions, the distance between the second position and the first position is a set stroke, the cavity in which the first oil cylinder and the second oil cylinder are connected in series is a communication cavity, and the stroke control method comprises: detecting the piston of the first oil cylinder in real time a first motion position and generate a first motion position signal; detecting a second motion position of the piston of the second cylinder in real time and generating a second motion position signal; receiving the first motion position signal and the second motion position signal, and according to the predetermined The control strategy controls the volume of the communication chamber to control the stroke of the series cylinders. Further, a difference between the second position and the first motion position is a first value, and a difference between the second position and the second motion position is a second value; a sum of the first value and the second value is an actual stroke; Control strategy to control the communication cavity The volume to control the stroke of the series cylinder includes: calculating the difference between the set stroke and the actual stroke; controlling the communication cavity replenishment when the difference is greater than zero, and controlling the communication chamber draining when the value difference is less than zero. Further, the stroke control method further includes calculating a volume of the oil replenishing or draining according to the difference, the cylinder diameters of the first cylinder and the second cylinder, and controlling the actual oil replenishing amount or the oil discharge amount according to the volume. Further, the stroke control method further includes calculating the time of replenishing or draining according to the volume of the replenishing or draining oil, and the flow rate of the replenishing or discharging, thereby controlling the amount of replenishing or the amount of oil discharged. The present invention uses the current real-time position information of the piston to control the total volume of the communication chamber of the series cylinder in real time, and can accurately and accurately control the stroke of the cylinder, avoiding the problem of the collision cylinder and the stroke being too short. BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in FIG. In the drawings: Fig. 1 is a schematic view showing a stroke control device of a tandem cylinder in the prior art; Fig. 2 is a schematic view showing a stroke control device of a tandem cylinder in an embodiment of the present invention; Fig. 3 is a schematic view showing the stroke control device of the series cylinder in another embodiment of the present invention; and Fig. 4 is a schematic view showing the control flow of the stroke control method of the series cylinder in the present invention. Reference numerals in the figure: 10, first cylinder; 11, piston rod; 12, piston; 13, rodless cavity; 14, rod cavity; 20, second cylinder; 21, piston rod; No rod cavity; 24, rod cavity; 30, first position detecting unit; 30', proximity switch; 40', proximity switch; 40, second position detecting unit; 50, controller; 60, valve; 80; pump; 90, pump; 100, distribution mechanism; 110, valve; A, first position; B, second position; D, distance; Ll, distance; L2, distance; 0, left end; , the first movement position; Y, the second movement position. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the present invention are described in detail below with reference to the accompanying drawings. As a first aspect of the invention, a stroke control device for a series cylinder is provided. As shown in FIGS. 2 and 3, the series cylinder includes a first cylinder 10 and a second cylinder 20 in series, and the piston 12 of the first cylinder 10 and the piston 22 of the second cylinder 20 are both at the first position A and the second position B. During the movement, the distance between the second position B and the first position A is a set stroke, and the cavity in which the first cylinder 10 and the second cylinder 20 are connected in series is a communication chamber. The stroke control device includes: a first position detecting unit 30 mounted on the first cylinder 10 for detecting the first movement position X of the piston 12 of the first cylinder 10 in real time and generating a first motion position signal; 40, mounted on the second cylinder 20, for detecting the second movement position Y of the piston 22 of the second cylinder 20 in real time and generating a second movement position signal; the controller 50, and the first position detecting unit 30 and the second position The detecting unit 40 is connected, and the controller 50 receives the first moving position signal and the second moving position signal, and controls the volume of the communicating cavity according to a predetermined control strategy to control the stroke of the series cylinder. Since the series cylinder is in operation, the fluid volume of the communication chamber (ie, the two chambers of the first cylinder and the second cylinder that communicate with each other, for example, the rod chambers in FIGS. 2 and 3) determines the cylinder movement. The stroke, therefore, as long as the volume of the fluid in the communication chamber can be controlled, the stroke of the cylinder can be controlled. In a preferred embodiment, the difference between the second position B and the first motion position X is a first value, and the difference between the second position B and the second motion position Y is a second value, the first value and the second value. The sum of the values is the actual stroke, and the controller calculates the difference between the set stroke and the actual stroke; the controller 50 controls the communication cavity replenishment when the difference is greater than zero, and the controller controls the connection when the value difference is less than zero. The cavity is drained. In this way, a control strategy is established, which can control the volume of the communication cavity according to the difference between the set stroke and the actual stroke, so as to achieve the purpose of controlling the stroke of the series cylinder. Obviously, other control strategies can be utilized to control the volume of the communication chamber, for example, the relationship between the sum of the lengths of the rodless chambers of the first cylinder 10 and the second cylinder 20 and the total length of the first cylinder 10 or the second cylinder 20. , control the volume of the connecting cavity. Preferably, the stroke control device further includes a fill and drain valve 70 connected to the controller 50, and the controller 50 controls the fill and drain valve 70 to replenish or drain the communication chamber. By the operation of replenishing or draining oil, the total volume of the communication chambers of the first cylinder 10 and the second cylinder 20 can be changed to achieve the purpose of adjusting the stroke. Referring to FIG. 2, the left end of the first cylinder 10 and the second cylinder 20 are 0, the distance between the first position A and the left end 0 is L1, and the distance between the second position B and the left end 0 is L2. Therefore, the set stroke S of the first cylinder 10 and the second cylinder 20 is L2-L1. Referring to FIG. 2, the distance between the piston 12 and the second position B (ie, the first value) is L2-X, and the distance between the piston 22 and the second position B (ie, the second value) is L2-Y. The actual stroke SO of the first cylinder 10 and the second cylinder 20 is the sum of the first value and the second value, that is, S0=L2-X+L2-Y=2L2-XY, and thus the upper structure can be used. An expression used to represent the actual stroke. Then, the difference AS between the set stroke and the actual stroke can be obtained by the controller 50, where AS = S-S0. When AS<0, it is necessary to replenish the communication chamber through the fill and drain valve 70, thereby increasing the volume of the communication chamber to adjust the position of the stroke. When AS>0, it is necessary to replenish the communication chamber through the fill and drain valve 70, thereby increasing the volume of the communication chamber to adjust the position of the stroke. In this way, during the control process, it is not necessary to utilize the historical position data of the first cylinder and the second cylinder in the last motion cycle as in the prior art, and only the current real-time position information of the piston is needed to connect the series cylinders. By controlling the total volume of the chamber in real time, it is possible to accurately control the stroke of the cylinder in time, avoiding the problem of the collision of the cylinder caused by the excessive stroke as much as possible, or the problem of the efficiency being lowered due to the short stroke. In addition, since the present invention can realize the stroke change control in any cylinder motion cycle, the piston can be moved in position during each motion cycle, thereby improving the pumping efficiency and the service life of the system. In addition, since the position of the lubrication point on the cylinder is fixed, if the stroke of the piston cannot be precisely controlled, there is no guarantee that the piston can be moved to the position of the lubrication point every time to receive lubrication, thereby affecting the service life of the piston. The invention can precisely control the stroke of the piston, and thus can ensure that the piston can move to the lubrication point every time, thereby improving the service life of the piston. Preferably, the piston 12 and the piston rod 11 of the first cylinder 10 are provided with a first test hole, and the piston 22 of the second cylinder 20 and the piston rod 21 are provided with a second test hole, at least a part of the first position detecting unit 30. The first position is detected in the first test hole, and at least a portion of the second position detecting unit 40 is bored in the second test hole. For example, the first position detecting unit 30 and the second position detecting unit 40 may be magnetic sensors. The positions of the pistons of the first cylinder 10 and the second cylinder 20 can be detected in real time and accurately by the first position detecting unit and the second position detecting unit. In operation, the pressure oil outputted by the pump 80 enters the first cylinder 10 or the second cylinder 20 through the valve 60, thereby pushing the piston of the first cylinder 10 or the second cylinder 20 outward. For example, when the rodless chamber 23 of the second cylinder 20 is oiled, the piston of the second cylinder 20 protrudes to the right, and the hydraulic oil in the rod chamber 24 flows into the rod chamber 14 of the first cylinder 10, thereby making the first The piston of one cylinder 10 is contracted to the left. During this process, the controller 50 controls the fill and drain valve 70 to replenish or drain the communication chambers of the first cylinder 10 and the second cylinder 20 (the rod chambers of the first cylinder 10 and the second cylinder 20) according to the result of the AS. Oil, so that the stroke is adjusted in real time to prevent the problem of a collision cylinder or insufficient stroke. When the piston of the second cylinder 20 is operated to the second position B, the controller 50 controls the valve 60 to supply oil to the rodless chamber 13 of the first cylinder 10, thereby realizing the commutation of the cylinder. As a second aspect of the present invention, there is provided a concrete pumping apparatus (for example, a concrete pump truck or the like) including a pumping apparatus including a series cylinder and a stroke control device for controlling the series cylinder, the stroke control device It is the stroke control device in each of the above embodiments. Preferably, the pressurized oil of the fill valve 70 may be from any of the hydraulic systems of the concrete pumping apparatus. For example, in the embodiment shown in Figure 2, pump 80 can be derived from the pumping mechanism. As another example, in the embodiment shown in FIG. 3, other pumps, such as pump 90 from dispensing mechanism 100 of the concrete pumping apparatus, may also be available. Among them, the pump 90 supplies the pressure oil to the dispensing mechanism 100 through the valve 110. Based on the above embodiment, as a third aspect of the present invention, a stroke control method of a series cylinder is provided. Referring to FIGS. 2 and 3, the series cylinder includes a first cylinder 10 and a second cylinder 20 in series, and the piston 12 of the first cylinder 10 and the piston 22 of the second cylinder 20 are both at the first position A and the second position B. The distance between the second position B and the first position A is the set stroke. The cavity in which the first cylinder 10 and the second cylinder 20 are connected in series is a communication chamber. Referring to FIG. 4, the stroke control method includes: detecting a first movement position X of the piston 12 of the first cylinder 10 in real time and generating a first movement position signal; detecting a second movement position Y of the piston 12 of the second cylinder 20 in real time and Generating a second motion position signal; receiving the first motion position signal and the second motion position signal, and controlling the volume of the communication cavity according to a predetermined control strategy to control the stroke of the series cylinder. The difference between the second position B and the first motion position X is a first value (ie, L2-X), and the difference between the second position B and the second motion position Y is a second value (ie, L2-Y); The sum of the value and the second value is the actual stroke SO (ie, S0=L2-X+L2-Y=2L2-X-Y). Preferably, the volume of the communication cavity is controlled according to a predetermined control strategy to control the The stroke of the series cylinder includes: calculating a difference AS between the set stroke S and the actual stroke SO, wherein AS = S-S0; controlling the communication cavity replenishment when the difference is greater than zero, and the value difference is less than zero In this case, the control chamber is drained. In this way, during the control, it is not necessary to utilize the historical position data of the first cylinder and the second cylinder in the last motion cycle as in the prior art, and only the current real-time position needs to be used. With the information, it is possible to adjust the stroke of the cylinder in time, avoiding the problem of the collision of the cylinder caused by the excessive stroke as long as possible, or the problem of the efficiency being lowered due to the short stroke. As a preferred embodiment, the stroke control method Also included according to the difference, the first cylinder 10 and the second cylinder 20 The cylinder diameter is used to calculate the volume of the oil or drain, and the actual oil or oil displacement is controlled according to the volume. Further, the stroke control method further includes calculating the time of replenishing or draining according to the volume of the replenishing or draining oil and the flow rate of the replenishing or discharging, thereby controlling the amount of replenishing or the amount of oil discharged. In this way, by controlling the volume of the charge and drain, it is possible to control the total volume of the communication chamber, thereby achieving the purpose of accurately controlling the stroke. 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

A stroke control device for a series cylinder, the series cylinder comprising a first cylinder (10) and a second cylinder (20) connected in series, a piston (12) of the first cylinder (10) and the second Piston of cylinder (20)

(22) both moving between a first position (A) and a second position (B), and a distance between the second position (B) and the first position (A) is a set stroke, The cavity in which the first cylinder (10) and the second cylinder (20) are connected in series is a communication chamber, wherein the stroke control device comprises: a first position detecting unit (30) installed at the first a cylinder (10) for detecting a first movement position (X) of the piston (12) of the first cylinder (10) in real time and generating a first movement position signal;

a second position detecting unit (40) mounted on the second cylinder (20) for detecting a second moving position (Y) of the piston (22) of the second cylinder (20) in real time and generating a second Motion position signal;

a controller (50) connected to the first position detecting unit (30) and the second position detecting unit (40), the controller (50) receiving the first motion position signal and the second motion position Signaling, and controlling the volume of the communication chamber according to a predetermined control strategy to control the stroke of the series cylinder.

2. The stroke control device according to claim 1, wherein a difference between the second position (B) and the first movement position (X) is a first value, and the second position (B) The difference from the second motion position (Y) is a second value, the sum of the first value and the second value is an actual stroke, and the controller calculates the set stroke and the The difference between the actual strokes; the controller (50) controls the communication cavity replenishment if the difference is greater than zero, and the controller controls the communication cavity if the value difference is less than zero Drain.

The stroke control device according to claim 1, wherein the piston (12) and the piston rod (11) of the first cylinder (10) are provided with a first test hole, and the second cylinder ( a piston (22) and a piston rod (21) are provided with a second test hole, at least a portion of the first position detecting unit (30) is disposed in the first test hole, the second position At least a portion of the detecting unit (40) is bored in the second test hole.

4. The stroke control device according to claim 1, wherein the stroke control device further comprises a fill and drain valve (70) connected to the controller (50), and the controller (50) controls The fill and drain valve (70) replenishes or drains the communication chamber.

A concrete pumping apparatus comprising a pumping device, the pumping device comprising a series oil cylinder and a stroke control device for controlling the series cylinder, wherein the stroke control device is according to claims 1 to 4. The stroke control device according to any one of the preceding claims.

6. A stroke control method for a series cylinder, the series cylinder comprising a first cylinder (10) and a second cylinder (20) connected in series, a piston of the first cylinder (10) and the second cylinder (20) The pistons are each moved between a first position (A) and a second position (B), the second position (B) and the first position

The distance between (A) is a set stroke, and the cavity in which the first cylinder (10) and the second cylinder (20) are connected in series is a communication chamber, and the stroke control method includes:

Detecting a first movement position (X) of the piston (12) of the first cylinder (10) in real time and generating a first motion position signal;

Detecting a second movement position (Y) of the piston (12) of the second cylinder (20) in real time and generating a second movement position signal;

Receiving the first motion position signal and the second motion position signal, and controlling a volume of the communication cavity according to a predetermined control strategy to control a stroke of the series cylinder.

The stroke control method according to claim 6, wherein a difference between the second position (B) and the first motion position (X) is a first value, and the second position (B) The difference from the second motion position (Y) is a second value; the sum of the first value and the second value is an actual stroke;

The controlling the volume of the communication cavity according to a predetermined control strategy to control the stroke of the series cylinder comprises: calculating a difference between the set stroke and the actual stroke; wherein the difference is greater than zero Controlling the communication chamber to replenish oil, and controlling the communication chamber to drain oil if the value difference is less than zero.

8. The stroke control method according to claim 7, wherein the stroke control method further comprises calculating a charge according to the difference, the cylinder bores of the first cylinder (10) and the second cylinder (20). Or the volume of the drain, and control the actual amount of oil or oil drain according to the volume.

9 . The stroke control method according to claim 8 , wherein the stroke control method further comprises calculating a charge or drain according to a volume of the oil or oil drain and a flow rate of oil or oil drain. The time, thereby controlling the amount of fuel or the amount of oil discharged.