CN104847642A - Control method and control device for concrete pumping - Google Patents
Control method and control device for concrete pumping Download PDFInfo
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- CN104847642A CN104847642A CN201410806554.0A CN201410806554A CN104847642A CN 104847642 A CN104847642 A CN 104847642A CN 201410806554 A CN201410806554 A CN 201410806554A CN 104847642 A CN104847642 A CN 104847642A
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- 238000005086 pumping Methods 0.000 title claims abstract description 42
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000006698 induction Effects 0.000 claims description 51
- 238000009434 installation Methods 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 7
- 238000006073 displacement reaction Methods 0.000 abstract description 4
- 238000005461 lubrication Methods 0.000 abstract description 3
- 230000003111 delayed effect Effects 0.000 abstract 2
- 238000005299 abrasion Methods 0.000 abstract 1
- 239000000463 material Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 230000007547 defect Effects 0.000 description 3
- 239000007788 liquid Substances 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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Abstract
The invention discloses a control method and a control device for concrete pumping. The control method for concrete pumping includes the steps that after an oil cylinder stroke reaches a first stroke position, the revolving speed of a main pump is maintained, and main pump flow is changed from work flow to first set flow; after the oil cylinder stroke reaches a second stroke position, the main pump flow is changed into second set flow; after a first duration is delayed relative to a sensing moment consumed when the oil cylinder stroke reaches the second stroke position, a swing cylinder reversing instruction is sent out; after a second duration is delayed relative to the sensing moment, the instruction that the main pump is reversed to reverse work flow is sent out, wherein the second duration is larger than the first duration. The control method and the control device for concrete pumping adopt basically same reversing process for different displacement gears, thereby effectively utilizing strokes, improving material suction performance, guaranteeing the pumping stop position of each gear, enabling lubrication to be more sufficient and effectively reducing concrete piston abrasion.
Description
Technical field
The present invention relates to concrete pumping technique field, particularly relate to a kind of concrete pumping controlling method and control gear.
Background technique
In the prior art, the reversing mode of concrete pumping equipment has two kinds, and one is liquid controlled reversing mode, and another kind is electric control reversing mode.
Liquid controlled reversing mode relies on hydraulic pressure signal to carry out controlling and commutating.Hydraulic pressure reversing mode requires higher to hydraulic system, and there is easily the defect of letting out with random commutation, and stroke is not easy to be guaranteed.
Electric control reversing mode adopts proximity switch to commutate usually.At end of travel, two induction switches are utilized to commutate as signal.As shown in Figure 1, time bottom the piston arrives oil cylinder of right master cylinder 12 (rightmost side), the second inductance loop B1 on right conveying cylinder 11 makes the second induction switch B respond to, and controller (not shown) receives this signal and sends commutation instruction.The piston of the right conveying cylinder 11 of piston driving of right master cylinder 12 moves away from toward hopper 9 direction.Meanwhile, left master cylinder 1 drives left conveying cylinder 3 side of turning left to move.When left master cylinder 1 moves to bottom oil cylinder (rightmost side), the first inductance loop A1 on left conveying cylinder 3 makes the first induction switch A respond to, and controller sends commutation signal again.Right master cylinder 12 starts action of turning right, and moves in circles.In whole pumping procedure, the signal transacting of different gear (1-10 shelves) all adopts above-mentioned pattern.
There is following problems and shortcoming in prior art.Topmost problem is that concrete cylinder operation mileage rate is low.Size because of master cylinder buffer distance is not hit cylinder for principle with the pumping of the highest discharge capacity gear and is determined, so under low and middle-grade position pumping operating mode, main oil cylinder piston bar can not run to the end, one section of idle stroke is always had not utilize, and the lower idle stroke of gear is larger, reduce suction efficiency, reduction amplitude is maximum reaches 6.5%.Different displacements down stroke conformity error is large, and excessive stroke variable quantity (maximum more than 50mm), has also had a strong impact on concrete piston lubricating effect.And in the prior art, do not think over the commutation sequential of tilt cylinder and master cylinder, make when pumping commutates, the concrete of suitable capacity is returned hopper, and low and middle-grade position also exists more serious back suction phenomenon, significantly reduces suction efficiency.
Therefore wish that a kind of concrete pumping controlling method and control gear overcome or at least to alleviate in the above-mentioned defect of prior art one or more.
Summary of the invention
The object of the present invention is to provide and a kind ofly to overcome or at least to alleviate in the above-mentioned defect of prior art one or more.
For achieving the above object, the invention provides a kind of concrete pumping controlling method, described concrete pumping controlling method comprises:
Detect the first travel position and second travel position of oil cylinder stroke end segment, wherein, the second travel position than the first travel position more close to oil cylinder stroke end;
After the first induction moment that oil cylinder stroke arrives the first travel position, keep the rotating speed of main pump, and main pump flow is changed to the first setting flow from working flow;
After the second induction moment that oil cylinder stroke arrives the second travel position, keep the rotating speed of main pump, and main pump flow is changed to the second setting flow from the first setting flow, wherein the second setting flow is less than the first setting flow;
After the second induction moment delay control one duration, send tilt cylinder commutation instruction; And
After postponing the second duration relative to the second induction moment, send the instruction that main pump commutates to reverse operation flow, wherein the second duration is greater than the first duration.
Preferably, the first setting flow is in the scope of 40% to 60% of main pump peak rate of flow.
Preferably, the second setting flow is in the scope of 10% to 30% of main pump peak rate of flow.
Preferably, described first duration is in the scope of 10 milliseconds to 15 milliseconds.
Preferably, described second duration is in the scope of 200 milliseconds to 250 milliseconds.
Preferably, the distance of described first travel position and oil cylinder stroke end is in the scope of 200 millimeters to 300 millimeters.
Preferably, the distance of described second travel position and oil cylinder stroke end is in the scope of 50 millimeters to 80 millimeters.
Preferably, cylinder piston rod arranges proximity switch, the first inductance loop and the second inductance loop are set respectively in the first travel position and the second travel position place.
The present invention also provides a kind of concrete pumping control gear, described concrete pumping control gear comprises: induction installation, first travel position of its induction oil cylinder stroke end segment and the second travel position, wherein, the second travel position than the first travel position more close to oil cylinder stroke end; Control gear, it, after the first induction moment sensing the first travel position, keeps the rotating speed of main pump, and the change of main pump flow is changed to the first setting flow from working flow; After the second induction moment that proximity switch senses the second travel position, keep the rotating speed of main pump, and main pump flow is changed to the second setting flow from the first setting flow, wherein the second setting flow is less than the first setting flow; After the second induction moment delay control one duration, send tilt cylinder commutation instruction and oil cylinder commutation instruction; And after postponing the second duration relative to the second induction moment, send the instruction that main pump commutates to reverse operation flow, wherein the second duration is greater than the first duration.
Preferably, described induction installation comprises: proximity switch, and it is fixedly installed; First inductance loop, it is arranged on cylinder piston rod, and the first travel position of the end of travel section of corresponding cylinder piston rod; And second inductance loop, it is arranged on cylinder piston rod, and the second travel position of the end of travel section of corresponding cylinder piston rod.
Preferably, described induction installation comprises: inductance loop, and it is arranged on cylinder piston rod, the first proximity switch, and it is fixedly installed, and the first travel position of the end of travel section of corresponding cylinder piston rod; And second proximity switch, it is fixedly installed, and the second travel position of the end of travel section of corresponding cylinder piston rod.
Concrete pumping controlling method of the present invention adopts substantially identical commutation process with control gear for different displacements gear, thus effectively can make use of stroke, improves suction.And ensure that the position of each gear termination of pumping, make lubrication more abundant, can effectively reduce concrete piston wear.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the concrete pumping control gear of prior art.
Fig. 2 is the discharge capacity-time graph schematic diagram of concrete pumping controlling method according to an embodiment of the invention.
Fig. 3 is the schematic diagram of concrete pumping control gear according to an embodiment of the invention.
Reference character:
| 1 | Left master cylinder | 11 | Right conveying cylinder |
| 2 | Tank | 12 | Right master cylinder |
| 3 | Left conveying cylinder | A | First induction switch |
| 4 | Left swing cylinder | B | Second induction switch |
| 5 | Stirring system | A1 | First inductance loop |
| 6 | Delivery pipe | A2 | 3rd inductance loop |
| 7 | Discharge port | B1 | Second inductance loop |
| 8 | S pipe valve | B2 | 4th inductance loop |
| 9 | Hopper | ||
| 10 | Right tilt cylinder |
Embodiment
For making object of the invention process, technological scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, the technological scheme in the embodiment of the present invention is further described in more detail.In the accompanying drawings, same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Described embodiment is the present invention's part embodiment, instead of whole embodiments.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the present invention, and can not limitation of the present invention be interpreted as.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.Below in conjunction with accompanying drawing, embodiments of the invention are described in detail.
In describing the invention; it will be appreciated that; term " " center ", " longitudinal direction ", " transverse direction ", "front", "rear", "left", "right", " vertically ", " level ", " top ", " end " " interior ", " outward " etc. instruction orientation or position relationship be based on orientation shown in the drawings or position relationship; be only the present invention for convenience of description and simplified characterization; instead of instruction or imply indication device or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as limiting the scope of the invention.
Solidifying native pumping controlling method according to the present invention comprises: the first travel position and the second travel position that detect oil cylinder stroke end segment, wherein, the second travel position than the first travel position more close to oil cylinder stroke end; After the first induction moment that oil cylinder stroke arrives the first travel position, keep the rotating speed of main pump, and main pump flow is changed to the first setting flow from working flow; After the second induction moment that oil cylinder stroke arrives the second travel position, keep the rotating speed of main pump, and main pump flow is changed to the second setting flow from the first setting flow, wherein the second setting flow is less than the first setting flow; After the second induction moment delay control one duration, send tilt cylinder commutation instruction; And after postponing the second duration relative to the second induction moment, send the instruction that main pump commutates to reverse operation flow, wherein the second duration is greater than the first duration.
The present invention also provides a kind of concrete pumping control gear, described concrete pumping control gear comprises: induction installation, first travel position of its induction oil cylinder stroke end segment and the second travel position, wherein, the second travel position than the first travel position more close to oil cylinder stroke end; Control gear, it, after the first induction moment sensing the first travel position, keeps the rotating speed of main pump, and the change of main pump flow is changed to the first setting flow from working flow; After the second induction moment that proximity switch senses the second travel position, keep the rotating speed of main pump, and main pump flow is changed to the second setting flow from the first setting flow, wherein the second setting flow is less than the first setting flow; After the second induction moment delay control one duration, send tilt cylinder commutation instruction and oil cylinder commutation instruction; And after postponing the second duration relative to the second induction moment, send the instruction that main pump commutates to reverse operation flow, wherein the second duration is greater than the first duration.
Concrete pumping controlling method of the present invention adopts substantially identical commutation process with control gear for different displacements gear, thus effectively can make use of stroke, improves suction.And ensure that the position of each gear termination of pumping, make lubrication more abundant, can effectively reduce concrete piston wear.
Fig. 3 is the schematic diagram of concrete pumping control gear according to an embodiment of the invention.Figure 3 illustrates: left master cylinder 1, tank 2, left conveying cylinder 3, left swing cylinder 4, stirring system 5, delivery pipe 6, discharge port 7, S pipe valve 8, hopper 9, right tilt cylinder 10 and right conveying cylinder 11, right master cylinder 12, first induction switch A, the second induction switch B, the first inductance loop A1, the 3rd inductance loop A2, the second inductance loop B1, the 4th inductance loop B2.It is to be noted, the position of the first induction switch A, the second induction switch B, the first inductance loop A1, the 3rd inductance loop A2, the second inductance loop B1, the 4th inductance loop B2 is schematic, can arrange as required, as long as the first travel position and second travel position of left and right master cylinder end of travel section can be detected.Such as, in one embodiment, the first induction switch A, the second induction switch B are fixedly installed, inductance loop are fixed relative to piston, makes it with piston movement.In another embodiment, inductance loop is fixedly installed, and the first induction switch A, the second induction switch B will fix relative to piston, make it with piston movement.
The main distinction of Fig. 3 and Fig. 1 is, the concrete pumping control gear of Fig. 3 arranges two inductance loops for each conveying cylinder, for detecting two travel position of oil cylinder stroke end segment: the first travel position and the second travel position.Wherein, the second travel position than the first travel position more close to oil cylinder stroke end.
Particularly, the first inductance loop A1 and the 3rd inductance loop A2 is arranged for left master cylinder 1 and left conveying cylinder 3, the second inductance loop B1 and the 4th inductance loop B2 is arranged for right master cylinder 12 and right conveying cylinder 11.
Preferably, the distance of described first travel position and oil cylinder stroke end is in the scope of 200 millimeters to 300 millimeters.Further preferably, the distance of described second travel position and oil cylinder stroke end is in the scope of 50 millimeters to 80 millimeters.Thus, can oil cylinder be utilized fully to be formed, and can prevent from preferably clashing into bottom oil cylinder.
Fig. 2 is the discharge capacity-time graph schematic diagram of concrete pumping controlling method according to an embodiment of the invention.As shown in Figure 2, corresponding to various different discharge capacity (such as five curves s1, s2, s3, s4 and s5 correspond respectively to 80%, 60%, 50%, 40% and 30% of main pump peak rate of flow), identical control mode is adopted.
Particularly, arrive the first induction moment (t1) of the first travel position at oil cylinder stroke after, keep the rotating speed of main pump, and main pump flow is changed to the first setting flow (50% of main pump peak rate of flow) from working flow.Be understandable that, this discharge capacity changes and realizes in a short period of time.Arrive the second induction moment (t2) of the second travel position at oil cylinder stroke after, keep the rotating speed of main pump, and main pump flow is changed to the second less setting flow (20% of main pump peak rate of flow) from the first setting flow (50% of main pump peak rate of flow).Then, after the second induction moment t1 delay control one duration, tilt cylinder commutation instruction is sent; And after postponing the second duration relative to the second induction moment t1, send the instruction (the t3 moment corresponding in Fig. 3) that main pump commutates to reverse operation flow, wherein the second duration is greater than the first duration.Complete commutation thus.
That is, method of the present invention is responded to by stroke, and carry out constant speed, fixed point commutation control to master cylinder, the stroke that commutates under realizing zero load, underloading, severe duty is consistent.
First setting flow can be arranged as required, advantageously, arranges in the scope of 40% to 60% of main pump peak rate of flow, is preferably 50% of main pump peak rate of flow.Thus moderate flow can be kept in commutation process, make full use of oil cylinder stroke.
Second setting flow can be arranged as required, and advantageously, the second setting flow, in the scope of 10% to 30% of main pump peak rate of flow, is preferably 20% of main pump peak rate of flow.Thus impact when commutating can be made less.
Preferably, described first duration is in the scope of 10 milliseconds to 15 milliseconds.Thus, can coordinate with the tilt cylinder response time preferably, prevent or at least reduce the generation of concrete back suction.Preferably, described second duration is in the scope of 200 milliseconds to 250 milliseconds.Select the main oil cylinder piston bar operating rate before reasonably commutation thus, shorten master cylinder two ends buffer length, make full use of the whole stroke of master cylinder and commutation front travel.
In one embodiment, cylinder piston rod arranges proximity switch, and be fixedly installed the first inductance loop and the second inductance loop in the first travel position of correspondence and the second travel position place.
In another embodiment, for each master cylinder, induction installation comprises an inductance loop and two proximity switches.Inductance loop is arranged on cylinder piston rod; First proximity switch is fixedly installed, and the first travel position of the end of travel section of corresponding cylinder piston rod; Second proximity switch is fixedly installed, and the second travel position of the end of travel section of corresponding cylinder piston rod.
The present invention accurately can utilize the response time of each related elements of commutation process, carries out advancement amount time-oriented sequential control to commutation process; The main oil cylinder piston bar operating rate before reasonably commutation can be selected, shorten master cylinder two ends buffer length, make full use of the whole stroke of master cylinder.
Finally it is to be noted: above embodiment only in order to technological scheme of the present invention to be described, is not intended to limit.Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technological scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technological scheme.
Claims (11)
1. a concrete pumping controlling method, is characterized in that, comprising:
Detect the first travel position and second travel position of oil cylinder stroke end segment, wherein, the second travel position than the first travel position more close to oil cylinder stroke end;
After the first induction moment that oil cylinder stroke arrives the first travel position, keep the rotating speed of main pump, and main pump flow is changed to the first setting flow from working flow;
After the second induction moment that oil cylinder stroke arrives the second travel position, keep the rotating speed of main pump, and main pump flow is changed to the second setting flow from the first setting flow, wherein the second setting flow is less than the first setting flow;
After the second induction moment delay control one duration, send tilt cylinder commutation instruction; And
After postponing the second duration relative to the second induction moment, send the instruction that main pump commutates to reverse operation flow, wherein the second duration is greater than the first duration.
2. concrete pumping controlling method as claimed in claim 1, is characterized in that, the first setting flow is in the scope of 40% to 60% of main pump peak rate of flow.
3. concrete pumping controlling method as claimed in claim 1, is characterized in that, the second setting flow is in the scope of 10% to 30% of main pump peak rate of flow.
4. concrete pumping controlling method as claimed in claim 1, it is characterized in that, described first duration is in the scope of 10 milliseconds to 15 milliseconds.
5. concrete pumping controlling method as claimed in claim 1, it is characterized in that, described second duration is in the scope of 200 milliseconds to 250 milliseconds.
6. concrete pumping controlling method as claimed in claim 1, it is characterized in that, the distance of described first travel position and oil cylinder stroke end is in the scope of 200 millimeters to 300 millimeters.
7. concrete pumping controlling method as claimed in claim 1, it is characterized in that, the distance of described second travel position and oil cylinder stroke end is in the scope of 50 millimeters to 80 millimeters.
8. concrete pumping controlling method as claimed in claim 1, is characterized in that, cylinder piston rod arranges proximity switch, arrange the first inductance loop and the second inductance loop respectively in the first travel position and the second travel position place.
9. a concrete pumping control gear, is characterized in that, comprising:
Induction installation, it detects the first travel position and second travel position of oil cylinder stroke end segment, wherein, the second travel position than the first travel position more close to oil cylinder stroke end;
Control gear, it, after the first induction moment sensing the first travel position, keeps the rotating speed of main pump, and the change of main pump flow is changed to the first setting flow from working flow;
After the second induction moment that proximity switch senses the second travel position, keep the rotating speed of main pump, and main pump flow is changed to the second setting flow from the first setting flow, wherein the second setting flow is less than the first setting flow;
After the second induction moment delay control one duration, send tilt cylinder commutation instruction and oil cylinder commutation instruction; And
After postponing the second duration relative to the second induction moment, send the instruction that main pump commutates to reverse operation flow, wherein the second duration is greater than the first duration.
10. concrete pumping control gear as claimed in claim 9, it is characterized in that, described induction installation comprises:
Proximity switch, it is fixedly installed;
First inductance loop, it is arranged on cylinder piston rod, and the first travel position of the end of travel section of corresponding cylinder piston rod; And
Second inductance loop, it is arranged on cylinder piston rod, and the second travel position of the end of travel section of corresponding cylinder piston rod.
11. concrete pumping control gear as claimed in claim 9, it is characterized in that, described induction installation comprises:
Inductance loop, it is arranged on cylinder piston rod,
First proximity switch, it is fixedly installed, and the first travel position of the end of travel section of corresponding cylinder piston rod; And
Second proximity switch, it is fixedly installed, and the second travel position of the end of travel section of corresponding cylinder piston rod.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410806554.0A CN104847642B (en) | 2014-12-22 | 2014-12-22 | Control method and control device for concrete pumping |
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| CN201410806554.0A CN104847642B (en) | 2014-12-22 | 2014-12-22 | Control method and control device for concrete pumping |
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| CN104847642B CN104847642B (en) | 2017-02-01 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108005891A (en) * | 2018-01-15 | 2018-05-08 | 长沙紫宸科技开发有限公司 | A kind of sludge pumping device electric autocontrol system |
| CN108762319A (en) * | 2018-05-24 | 2018-11-06 | 北京朝阳高科应用技术研究所有限公司 | Weight for petrol engine air admission valve deposits simulation test machine quantifies pumping installations |
| CN109058085A (en) * | 2018-07-17 | 2018-12-21 | 三汽车制造有限公司 | pumping system control method and control device |
| CN110529356A (en) * | 2019-09-18 | 2019-12-03 | 徐州徐工施维英机械有限公司 | Concrete pumping equipment pumping control system and method |
| CN111391123A (en) * | 2020-03-20 | 2020-07-10 | 三一汽车制造有限公司 | Stirring system, concrete pumping system, control method of concrete pumping system and storage medium |
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| CN109058085B (en) * | 2018-07-17 | 2020-06-12 | 三一汽车制造有限公司 | Pumping system control method and control device |
| CN110529356A (en) * | 2019-09-18 | 2019-12-03 | 徐州徐工施维英机械有限公司 | Concrete pumping equipment pumping control system and method |
| CN111391123A (en) * | 2020-03-20 | 2020-07-10 | 三一汽车制造有限公司 | Stirring system, concrete pumping system, control method of concrete pumping system and storage medium |
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| CN104847642B (en) | 2017-02-01 |
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Effective date of registration: 20200927 Address after: No.202 Xuanfu street, Xuanhua District, Zhangjiakou, Hebei Province Patentee after: Hebei Leisa Heavy Construction Machinery Co., Ltd Address before: 102206 Changping District City, Shahe, Sha Yang Road, Beijing Patentee before: BEIQI FOTON MOTOR Co.,Ltd. |