WO2015081774A1 - Système de commande et procédé de commande de cylindre à huile, et machine de pompage - Google Patents

Système de commande et procédé de commande de cylindre à huile, et machine de pompage Download PDF

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Publication number
WO2015081774A1
WO2015081774A1 PCT/CN2014/089581 CN2014089581W WO2015081774A1 WO 2015081774 A1 WO2015081774 A1 WO 2015081774A1 CN 2014089581 W CN2014089581 W CN 2014089581W WO 2015081774 A1 WO2015081774 A1 WO 2015081774A1
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WO
WIPO (PCT)
Prior art keywords
cylinder
oil pump
displacement
main
pressure
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Application number
PCT/CN2014/089581
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English (en)
Chinese (zh)
Inventor
宋永红
刘江明
余威
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三一汽车制造有限公司
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Application filed by 三一汽车制造有限公司 filed Critical 三一汽车制造有限公司
Publication of WO2015081774A1 publication Critical patent/WO2015081774A1/fr

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • F04B49/065—Control using electricity and making use of computers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/12—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00 by varying the length of stroke of the working members

Definitions

  • the present invention relates to hydraulic control technology, and more particularly to a cylinder control system and control method; in addition, the present invention also relates to a pumping machine having the above-described cylinder control system.
  • the pumping system generally includes a main cylinder 1, a delivery cylinder 2, a helium piston 3, and a water tank 4.
  • the helium piston 3 is slidably disposed in the delivery cylinder 2, and the piston rod 6 of the main cylinder 1 is connected to the helium piston 3.
  • the pumping system operates on the principle that when the piston rod 6 is retracted, the delivery cylinder 2 draws material from the port 8; when the piston rod 6 is extended, the delivery cylinder 2 pumps material from the port 8.
  • the helium piston 3 is connected to the piston 5 through the piston rod 6, and the operating frequency and stroke of the helium piston 3 are kept in line with the piston 5. Therefore, the displacement and working efficiency of the main cylinder 1 for the entire pumping system are Life expectancy and the like have a very important impact.
  • the main cylinder 1 In order to make the main cylinder 1 play a better role, it is usually necessary to ensure that the main cylinder 1 can be reversed in time (the movement direction is changed in time when the piston 5 moves to the limit position); if the main cylinder 1 is prematurely reversed (ie, the piston 5 is not up) The limit position is reversed), the stroke of the main cylinder 1 cannot be fully utilized, and the displacement and efficiency of the pumping system are affected; if the main cylinder 1 is reversed too late (ie, the piston 5 reaches the limit position and the dead time is too long) Will affect the efficiency of the pumping system.
  • the commutation of the main cylinder 1 is generally controlled in the following manner: the position monitoring element 7 is disposed at a position close to the limit position on the cylinder of the main cylinder 1, and the induction sleeve is disposed on the piston rod 6. Obtaining the stroke of the piston 5 by the cooperation of the position monitoring component 7 and the induction sleeve, thereby calculating the movement speed of the piston 5, combining the length of the induction sleeve, and the position monitoring element The position set by the piece 7 can estimate how long the piston needs to reach the limit position; then, according to the estimated time, the flow direction of the hydraulic oil is controlled, so that the main cylinder 1 is reversed.
  • the present invention provides a cylinder control system by which the effective stroke of the main cylinder or the total length of the main cylinder can be extended on the basis of ensuring timely reversal of the main cylinder.
  • the present invention also proposes a pumping machine having the cylinder control system.
  • the present invention also provides a cylinder control method.
  • the cylinder control method the effective stroke of the main cylinder or the total length of the main cylinder can be extended on the basis of ensuring timely reversal of the main cylinder.
  • the present invention provides a cylinder control system including a closed oil pump, a main oil cylinder, and a reversing valve group, the closed oil pump being connected to the main oil cylinder, the closed oil pump including a main oil pump, a charge pump, and a servo cylinder for driving a swash plate of the main oil pump to adjust a displacement and a direction of the hydraulic oil output by the main oil pump, wherein the reversing valve group is configured to control a movement direction of the servo cylinder, Also includes:
  • a rotation speed detecting component for directly or indirectly acquiring the rotation speed of the closed oil pump and generating a rotation speed signal
  • a displacement detecting unit configured to acquire a displacement of the closed oil pump and generate a displacement signal
  • a position monitoring component for generating an in-position signal when the piston of the master cylinder reaches a predetermined position
  • control unit configured to control the reversing valve group to commutate the servo cylinder according to the rotation speed signal, the displacement signal, and the in-position signal.
  • the inner diameter of the main cylinder, the diameter of the piston rod, the distance between the position monitoring element and the limit position can be known in advance, combined with the flow area of the main cylinder, the displacement and the rotational speed of the closed oil pump,
  • the control unit can calculate the moving speed of the piston in the main cylinder; when the piston moves to the predetermined position, the position monitoring component sends the in-position signal to the control unit, according to the moving speed of the piston and the distance between the predetermined position and the limit position. It can be calculated how long the piston will reach the limit position, and the control unit controls the servo cylinder reversal according to the calculated time.
  • the cylinder control system can reverse the main cylinder in time to prevent the occurrence of rolling phenomenon; and, compared with the prior art, it can set a simple position monitoring component on the main cylinder. It is not necessary to obtain a moving speed of the piston by providing a long length of the induction sleeve on the piston rod. Therefore, with the cylinder control system, the effective stroke of the main cylinder can be extended while maintaining the length of the main cylinder; or, When the existing stroke of the main cylinder is maintained, the length of the main cylinder is shortened.
  • the present invention also provides a cylinder control method for a system provided with a main oil cylinder and a closed oil pump, the closed oil pump including a main oil pump, a charge pump and a servo cylinder, wherein the servo cylinder is used for driving
  • the swash plate of the main oil pump rotates to adjust the displacement and direction of the hydraulic oil output by the main oil pump, and the closed oil pump is used to supply hydraulic oil to the main oil cylinder;
  • the position monitoring component is disposed at a predetermined position of the main oil cylinder
  • the position monitoring component generates an in-position signal when the piston of the master cylinder is operated to a predetermined position, the method comprising the steps of:
  • the reversing valve group is controlled to commutate the servo cylinder according to the movement speed and the in-position signal.
  • the main cylinder can be reversed in time to prevent the occurrence of rolling phenomenon; compared with the prior art, the cylinder control method does not need to set a long length on the main cylinder.
  • the induction sleeve is used to obtain the movement speed of the piston. Therefore, by using the cylinder control method, the effective stroke of the main cylinder can be extended while maintaining the length of the main cylinder; or the main cylinder can be shortened while maintaining the existing stroke of the main cylinder. length.
  • the present invention also provides a pumping machine including a prime mover and a pumping system, the pumping system including a delivery cylinder, a helium piston, and the above-described cylinder control system, the prime mover for driving the closing
  • An oil pump is connected to a piston rod of the main cylinder, and the helium piston is disposed in the conveying cylinder.
  • the displacement detecting unit includes a pressure detecting element; the pressure detecting element is disposed on the servo cylinder for detecting a rod cavity and a rodless cavity of the servo cylinder of the closed oil pump Pressure; the displacement detecting unit acquires the displacement of the closed oil pump according to the pressure.
  • the displacement detecting unit includes an angle sensor; the angle sensor is disposed on the closed oil pump for detecting a rotation angle of the swash plate, and the displacement detecting unit acquires the closing according to the rotation angle The displacement of the oil pump.
  • the rotation speed detecting element is disposed on the prime mover, and the rotation speed detecting element obtains a rotation speed of the closed oil pump by detecting a rotation speed of the prime mover; or the rotation speed detecting element is disposed in the closed On the oil pump, it is used to directly detect the rotation speed of the closed oil pump.
  • the position monitoring component is a stroke in position switch, and the stroke in position switch is disposed at a predetermined position of the main cylinder; or the position monitoring component is a pressure sensor, and the pressure sensor is disposed in the main cylinder On the predetermined location.
  • the reversing valve group includes a reversing valve and a pressure control valve, the P port of the reversing valve is in communication with an outlet of the charge pump, and the T port is in communication with the oil tank; the two liquids of the pressure control valve The control ports are respectively connected to the A port and the B port of the reversing valve, the inlet of the pressure control valve is in communication with the outlet of the charge pump, and the oil return port of the pressure control valve is in communication with the oil tank;
  • the two working ports of the pressure control valve are respectively connected with the rod chamber and the rodless chamber of the servo cylinder, and the pressure control valve is used for controlling the rod chamber or the rodless chamber of the servo cylinder according to the pressure of the P port. pressure.
  • a constant power valve group is further disposed on the oil passage between the charge pump and the reversing valve; and two inlets of the constant power valve group are respectively connected to the charge pump outlet and the main oil pump outlet, The oil return port of the constant power valve group is in communication with the oil tank.
  • the pumping machine further includes a swing valve cylinder, and the control unit controls the swing of the swing valve cylinder at a time corresponding to or after the commutation valve group reverses the servo cylinder.
  • the pumping machine can adopt a main cylinder having a smaller length, thereby saving installation space and finally facilitating structural arrangement.
  • FIG. 1 is a schematic structural view of a pumping system in the prior art
  • FIG. 2 is a hydraulic schematic diagram of a cylinder control system according to an embodiment of the present invention.
  • FIG. 3 is a second schematic diagram of a hydraulic principle of a cylinder control system according to an embodiment of the present invention.
  • FIG. 4 is a flow chart showing the operation of the cylinder control system according to an embodiment of the present invention.
  • the cylinder control system includes a closed oil pump 3, a main oil cylinder 1 and a reversing valve group.
  • the closed oil pump 3 is connected to the main oil cylinder 1, and the closed oil pump 3 includes a main oil pump 32.
  • the charge pump 33 and the servo cylinder 31 are used to drive the swash plate rotation of the main oil pump 32 to adjust the displacement and direction of the hydraulic oil output by the main oil pump 32, and the reversing valve group is used for control.
  • the movement direction of the servo cylinder 31; the cylinder controller system is further provided with a rotation speed detecting component 5, a displacement detecting unit, a position monitoring component and a control unit 9, and the rotation speed detecting component 5 is configured to acquire the rotation speed of the closed oil pump 3 and generate a rotation speed signal.
  • the displacement detecting unit is specifically provided with a pressure detecting element 4 for detecting the pressure in the rod chamber and the rodless chamber of the servo cylinder 31 of the closed oil pump 3, and the displacement detecting unit is based on the pressure detecting element.
  • the detected pressure generates a displacement signal (for a specific closed oil pump 3, there is a correlation between the pressure value in the rod chamber and the rodless chamber of the servo cylinder 31 and the displacement, and the correlation can be known in advance, Specifically, the servo cylinder 31 has a spring therein, and the extension length of the piston rod of the servo cylinder 31 can be calculated according to the balance between the pressure in the rod chamber and the rodless chamber and the spring force, thereby calculating the rotation angle of the swash plate of the main oil pump 32. According to the rotation angle of the swash plate, the displacement of the main oil pump 32 can be calculated.
  • the displacement of the closed oil pump 3 can be known according to the pressure, and the position monitoring element is used for reaching the piston of the main cylinder 1. Generating a position signal when said predetermined position, the control unit 9 for the commutation of the speed signal in accordance with the servo cylinder 31, the displacement control signal and the valve position signal group.
  • the reversing valve group comprises a reversing valve 7 and a pressure control valve 6,
  • the P port of the reversing valve 7 is in communication with the outlet of the charge pump 33, and the T port is in communication with the fuel tank;
  • the two hydraulic control ports of the pressure control valve 6 are respectively The A port and the B port of the reversing valve 7 are connected, the inlet of the pressure control valve 6 is in communication with the outlet of the charge pump 33, and the oil return port of the pressure control valve 6 is in communication with the oil tank;
  • the two working ports of the pressure control valve 6 are respectively
  • the rod chamber of the servo cylinder 31 communicates with the rodless chamber, and the pressure control valve 6 is used to control the pressure of the rod chamber or the rodless chamber of the servo cylinder 31 according to the P port pressure.
  • the P port refers to the pressure inlet of the reversing valve 7
  • the T port refers to the oil return port of the reversing valve 7
  • the ports A and B refer to the working port of the reversing valve 7 .
  • the workflow of the cylinder control system is:
  • Step S1 The pressure detecting element 4 detects the pressure at both ends of the rod chamber and the rodless chamber of the servo cylinder 31.
  • Step S2 The displacement detecting unit calculates the displacement of the closed oil pump 3 according to the pressure of the pressure detecting element 4.
  • the servo cylinder 31 has a pressure value between the rod chamber and the rodless chamber and the displacement. There is a correlation, and this association can be known in advance, and therefore, the displacement of the closed oil pump 3 can be known based on the pressure.
  • Step S3 The rotation speed detecting component 5 acquires the rotation speed of the closed oil pump 3.
  • the speed of the closed oil pump 3 may be directly obtained, for example, or may be indirectly obtained, for example, driven by the motor 12 or the automobile engine.
  • the motor 12 can be detected.
  • the rotational speed of the engine of the automobile of course, the rotational speed of the transmission component between the motor or the engine of the automobile and the closed oil pump 3.
  • Step S4 The control unit 9 calculates the flow rate of the hydraulic oil output from the closed oil pump 3 based on the displacement and the rotational speed.
  • Step S5 For a specific master cylinder 1, the inner diameter and the diameter of the piston rod are known in advance.
  • Step S6 The control unit 9 calculates the movement speed of the piston according to the flow rate of the hydraulic oil and the inner diameter of the main cylinder 1; the hydraulic oil of the closed oil pump 3 is all supplied to the main cylinder 1, and when the hydraulic oil enters the oil from the rodless chamber, according to the flow rate and The moving speed of the piston can be calculated from the inner diameter of the main cylinder 1.
  • the moving speed of the piston can be calculated according to the flow rate, the inner diameter of the main cylinder 1, and the diameter of the piston rod.
  • Step S7 The distance between the detection position of the stroke in-position switch 2 and the limit position of the main cylinder 1 is known in advance, and the stroke in-position switch 2 may directly detect whether the piston is running to a predetermined detection position or may be an indirect detection piston. Whether to run to the detection position, such as mounting the induction sleeve at a certain distance from the piston on the piston rod, indirectly reflecting whether the piston reaches a predetermined position by detecting whether the induction sleeve reaches a predetermined position; when the stroke in place switch 2 is directly or indirectly When the piston is detected to reach the predetermined position, an in-position signal is issued.
  • Step S8 The control unit 9 calculates, based on the position signal, the distance between the piston and the limit position and the piston speed, how long the piston will reach the limit position, and sends a commutation signal after the calculated time; the reversing valve 7 is based on the reversing direction.
  • the signal changes the oil inlet direction and the oil discharge direction of the pressure control valve 6, and correspondingly, the pressure in the rod chamber and the rodless chamber of the servo cylinder 31 is changed, and the swash plate of the closed oil pump 3 is driven by the servo cylinder 31.
  • the swing angle changes, and the oil discharge direction and the oil feed direction of the closed oil pump 3 are reversed. Accordingly, the oil feed direction and the oil discharge direction of the main oil cylinder 1 are reversed, thereby realizing the commutation of the main oil cylinder 1.
  • the cylinder control system can reverse the main cylinder 1 in time to prevent the occurrence of rolling phenomenon; and, compared with the prior art, it does not need to set a longer length on the piston rod.
  • the induction sleeve is used to obtain the movement speed of the piston. Therefore, the effective stroke of the main cylinder 1 can be extended while maintaining the existing length of the main cylinder 1; or the main cylinder 1 can be shortened while maintaining the existing stroke of the main cylinder 1. length.
  • FIG. 3 is a schematic diagram of another cylinder control system, which is more suitable for concrete pump trucks.
  • the pumping system is provided with two main cylinders 1, two conveying cylinders, two helium pistons, an S valve, a swing valve cylinder 11 and a hopper, and the piston rod of each main cylinder 1 is connected with a helium piston.
  • the piston sliding is disposed in the conveying cylinder, and the swing valve cylinder 11 drives the S valve to alternately communicate with the two main cylinders 1; when the piston rod of the main cylinder 1 is retracted, the conveying cylinder communicates with the hopper, and the concrete is sucked from the hopper.
  • the delivery cylinder communicates with the S valve and pumps out the concrete.
  • the control unit 9 then sends a commutation signal to the swing cylinder reversing valve 13 for a predetermined time after the reversing valve group reversing the servo cylinder 31.
  • the oil circuit between the charge pump 33 and the reversing valve 7 is further provided with a constant power valve group 8; the two inlets of the constant power valve group 8 are respectively connected to the outlet of the charge pump 33 and the outlet of the main oil pump 32. Connected, the oil return port of the constant power valve group 8 is in communication with the oil tank.
  • the purge valve 10 may be provided in the cylinder control system. Specifically, the inlet of the purge valve 10 is connected to the charge pump 33, and the outlet is connected. Connected to the fuel tank via a check valve.
  • a pressure sensor can be used to indirectly detect whether the piston is in position; typically, in a particular cylinder control system, the hydraulic fluid is near the end of the limit position when the piston is about to reach the extreme position but still at a distance from the extreme position. The pressure will rise sharply. Therefore, a pressure sensor can be placed in the area close to the limit position, and the position of the piston can be fed back by the sudden change of the pressure of the pressure sensor, thereby knowing the distance between the piston and the limit position.
  • the pressure control valve 6 is integrated on the closed oil pump 3, no doubt, alone It is also possible to set the pressure control valve 6 to achieve the above functions.
  • the reversing valve can also take other structural forms, such as an electric proportional valve.
  • an electromagnetic reversing valve can be used instead of the pressure control valve 6 and the reversing valve 7.
  • the pumping machine proposed by the embodiment of the present invention is provided with the above-mentioned cylinder control system.
  • the main cylinder 1 of the pumping machine has a shorter length, a smaller installation space, and a more convenient structural arrangement.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Reciprocating Pumps (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

Système de commande et procédé de commande de cylindre à huile, et machine de pompage ; le système de commande de cylindre à huile est pourvu d'une pompe à huile fermée (3), d'un groupe de clapets inverseurs, d'un élément de détection (5) de vitesse de rotation, d'une unité de détection de déplacement, d'un élément de contrôle d'emplacement et d'une unité de commande (9) ; l'élément de détection (5) de vitesse de rotation est configuré pour obtenir une vitesse de rotation de la pompe à huile fermée et pour produire un signal de vitesse de rotation ; l'unité de détection de déplacement est configurée pour obtenir le déplacement de la pompe à huile fermée et pour produire un signal de déplacement ; l'élément de contrôle d'emplacement est configuré pour produire un signal en place quand un piston d'un cylindre à huile principal atteint un emplacement prédéfini ; et l'unité de commande (9) est configurée pour commander, en fonction du signal de vitesse de rotation, du signal de déplacement et du signal en place, le groupe de clapets inverseurs pour inverser un servocylindre à huile (31). Dans le système de commande de cylindre à huile, il n'est pas nécessaire d'agencer un long manchon à induction sur une tige de piston pour obtenir une vitesse de mouvement du piston. Par conséquent, dans un cas de maintien de la longueur du cylindre à huile principal, une course efficace du cylindre à huile principal peut être rallongée ; ou dans un cas de maintien d'une course actuelle du cylindre à huile principal, la longueur du cylindre à huile principal peut être raccourcie.
PCT/CN2014/089581 2013-12-04 2014-10-27 Système de commande et procédé de commande de cylindre à huile, et machine de pompage WO2015081774A1 (fr)

Applications Claiming Priority (2)

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CN201310648177.8 2013-12-04
CN201310648177.8A CN103603843B (zh) 2013-12-04 2013-12-04 油缸控制系统、控制方法及泵送机械

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CN109555750A (zh) * 2019-01-10 2019-04-02 浙江鹤立智能机械有限公司 液压机主油缸
CN109570426A (zh) * 2019-01-22 2019-04-05 青岛海德马克智能装备有限公司 一种夹紧控制系统及径向锻造操作机
CN110529356A (zh) * 2019-09-18 2019-12-03 徐州徐工施维英机械有限公司 混凝土泵送设备泵送控制系统及方法
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CN101793247A (zh) * 2009-01-20 2010-08-04 徐工集团工程机械股份有限公司建设机械分公司 混凝土泵车及其混凝土输送泵换向系统
CN201568245U (zh) * 2009-05-31 2010-09-01 长沙中联重工科技发展股份有限公司 混凝土泵送单元及泵送设备
CN203214291U (zh) * 2013-03-25 2013-09-25 华菱星马汽车（集团）股份有限公司 混凝土泵车及其自动反泵装置
CN203430755U (zh) * 2013-08-22 2014-02-12 徐州徐工施维英机械有限公司 混凝土泵换向系统
CN103603843A (zh) * 2013-12-04 2014-02-26 三一汽车制造有限公司 油缸控制系统、控制方法及泵送机械

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CN108089541A (zh) * 2018-01-31 2018-05-29 中铁工程装备集团有限公司 一种基于plc的tbm混喷装置电气控制系统
CN108089541B (zh) * 2018-01-31 2023-09-15 中铁工程装备集团有限公司 一种基于plc的tbm混喷装置电气控制系统
CN109555750A (zh) * 2019-01-10 2019-04-02 浙江鹤立智能机械有限公司 液压机主油缸
CN109555750B (zh) * 2019-01-10 2024-02-27 浙江鹤立智能机械有限公司 液压机主油缸
CN109570426A (zh) * 2019-01-22 2019-04-05 青岛海德马克智能装备有限公司 一种夹紧控制系统及径向锻造操作机
CN110529356A (zh) * 2019-09-18 2019-12-03 徐州徐工施维英机械有限公司 混凝土泵送设备泵送控制系统及方法
CN113635592A (zh) * 2021-07-27 2021-11-12 长沙普惠环保机械有限公司 一种垃圾压缩设备的执行机构的控制方法及控制系统
CN114294211A (zh) * 2021-12-28 2022-04-08 徐州徐工施维英机械有限公司 一种电控换向混凝土泵的应急泵送方法
CN114294211B (zh) * 2021-12-28 2024-03-12 徐州徐工施维英机械有限公司 一种电控换向混凝土泵的应急泵送方法
CN114412886A (zh) * 2022-01-26 2022-04-29 江苏恒立液压科技有限公司 液压促动器阀组、测试液压系统、阀组测试方法
CN115077432A (zh) * 2022-05-20 2022-09-20 浙江大学高端装备研究院 一种油缸行程检测系统、漏油检测系统及行程检测方法

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