CN105626500B - Material conveying control equipment, system and method and engineering machinery - Google Patents
Material conveying control equipment, system and method and engineering machinery Download PDFInfo
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- CN105626500B CN105626500B CN201410581419.0A CN201410581419A CN105626500B CN 105626500 B CN105626500 B CN 105626500B CN 201410581419 A CN201410581419 A CN 201410581419A CN 105626500 B CN105626500 B CN 105626500B
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- 239000000463 material Substances 0.000 title claims abstract description 98
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000005086 pumping Methods 0.000 claims abstract description 287
- 230000001133 acceleration Effects 0.000 claims abstract description 104
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 24
- 239000002994 raw material Substances 0.000 claims description 4
- 239000004567 concrete Substances 0.000 description 12
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 239000003921 oil Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000005461 lubrication Methods 0.000 description 3
- 239000002893 slag Substances 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
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Abstract
The invention discloses a material conveying control device, a system, a method and an engineering machine, wherein the device controls the pumping speed of a hydraulic oil cylinder by controlling the opening degrees of a hydraulic oil pump and a pumping valve group, so as to pump the material at the pumping speed, and the device also comprises: a receiving device for receiving material characteristic data of the material; and the control device controls the pumping acceleration of the material in stages according to the material characteristic data under the condition of starting the hydraulic oil cylinder for the first time. According to the invention, the pumping speed of the pumped materials is controlled in a segmented manner according to different material characteristics, so that the phenomenon of pipeline blockage caused by rapid rise of material conveying resistance in a pipeline due to overlarge pumping acceleration at the moment of starting the pump can be avoided, the conveying resistance of the materials can be reduced, the material conveying is facilitated, and the probability that the pressure impact exceeds the limit value is reduced.
Description
Technical field
Technology the present invention relates to push material, in particular it relates to a kind of material conveying control device, system, method and
Engineering machinery.
Background technology
At present, main material transfer equipment is concrete pump (a kind of hydraulic oil pump), and its principle is by adjusting hydraulic pressure
The starting loop of oil cylinder carrys out toggle speed of the control material in concrete cylinder.
Fig. 1 is the concrete pump pumping theory figure that prior art is provided, as shown in figure 1, the control hydraulic oil pump 2 of controller 1
Output flow and pumping valve group 6 aperture, and then the rate of pumping of hydraulic jack 3,4 is controlled, to promote material in hopper 5
Move through the output of conveyance conduit (not shown).The acceleration for started by adjusting hydraulic jack 3,4, stopping can be real
The movement velocity of material, impact and drop of the material to system during in order to eliminate hydraulic jack initial start when now adjusting initial start
Vibration during low pumping, adding when prior art usually controls hydraulic jack initial start using the regulative mode shown in Fig. 2
Speed.In fig. 2, abscissa is time t, and ordinate is the rate of pumping v of hydraulic jack 3,4, the regulative mode shown in Fig. 2
The pumping acceleration (i.e. slope is variable) of hydraulic jack 3,4 can be adjusted.
There is problems with above regulative mode：Directly accelerate to reach target rate of pumping in a pump cycles, if mesh
Mark rate of pumping is too fast, then the starting loop of hydraulic jack 3,4 also can be larger, is otherwise unable to reach target rate of pumping.Such as
Fruit causes the increase of delivery pipe resistance in the starting loop too conference of initial starting phase hydraulic jack 3,4, it is possible to cause to push away
Maximum thrust of the resistance more than pumping system can be provided is sent, so as to cause conveyance conduit to block, is additionally, since in initial start-up
In the stage, material lubrication (e.g., concrete lubrication) has not yet been formed, pumping resistance also can be very big.
The content of the invention
It is an object of the invention to provide a kind of material conveying control device, system, method and engineering machinery, for solving liquid
Conveyance conduit is blocked and the big problem of pumping resistance during compressing cylinder initial start-up.
To achieve these goals, the invention provides a kind of material conveying control device, the equipment is by controlling hydraulic pressure
Oil pump controls the rate of pumping of hydraulic jack with the aperture of pumping valve group, so as to pump the material with the rate of pumping,
The equipment also includes：Reception device, receives the material characteristic data of the material；Control device, in initial start-up hydraulic jack
In the case of, the pumping acceleration of the material is pumped come control by stages according to the material characteristic data.
Correspondingly, present invention also offers a kind of material conveying control system, the system includes：Thing in accordance with the above
Material conveying control device；And pressure sensor, the pumping pressure for detecting the hydraulic oil pump.
Correspondingly, present invention also offers a kind of engineering machinery, including above-described material conveying control system.
Correspondingly, present invention also offers a kind of material conveyance control method, opened by hydraulic oil pump and pumping valve group
Spend to control the rate of pumping of hydraulic jack, so as to pump the material with the rate of pumping, the method also includes：Receive institute
State the material characteristic data of material；In the case of initial start-up hydraulic jack, according to the material characteristic data come stage by stage
The pumping acceleration of the control pumping material.
By above-mentioned technical proposal, the present invention pumps the pumping of material by the difference according to material characteristic come Discrete control
Speed, the material transporting resistance in can avoiding that acceleration is excessive because opening the pumping of pump moment and causing pipeline steeply rising and occurring
The phenomenon of line clogging, and the transporting resistance of material can be reduced, be conducive to the conveying of material, reduction compression shock occur and surpass
Cross the probability of limit value.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Accompanying drawing is, for providing a further understanding of the present invention, and to constitute the part of specification, with following tool
Body implementation method is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the concrete pump pumping theory figure that prior art is provided；
Fig. 2 is the curve of the rate of pumping that prior art is provided；
Fig. 3 is the block diagram that the material that the present invention is provided conveys control device；
Fig. 4 is the curve that changes over time of rate of pumping of the hydraulic jack that the present invention is provided；
Fig. 5 is the block diagram of the material conveying control system that the present invention is provided；
Specific embodiment
Specific embodiment of the invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
Fig. 3 is the block diagram that the material that the present invention is provided conveys control device, as shown in figure 3, material conveying control device
10 include reception device 101 and control device 102.The equipment 10 is controlled by controlling the aperture of hydraulic oil pump and pumping valve group
The rate of pumping of hydraulic jack, so as to pump material with the rate of pumping.Control device 101 receives the material characteristic number of material
According to, control device 102 in the case of initial start-up hydraulic jack, according to the material characteristic data for being received come control by stages
Pump the pumping acceleration of material.Wherein material characteristic data can be obtained by input unit.
Initial start-up hydraulic jack as described herein refers to start hydraulic jack for the first time after opening pumping system power supply
Or start hydraulic jack for the first time after a period of time is expected.In the case of due to initial start-up hydraulic jack, in delivery pipe
Material it is uneven, transporting resistance is larger under identical rate of pumping, and delivery pipe compression shock easily occurs and is even more than pressure
The situation of power limit value, so the application solves this problem by the pumping acceleration of control by stages pumping material.
Above material characteristic data first include pumped medium, such as water, concrete, slag etc., secondly for concrete,
The material characteristic data of the materials such as slag can further include characterisitic parameter, and the characterisitic parameter can be to make raw material, collapse
One or more of degree of falling etc..For example, if concrete, its characterisitic parameter can also include making raw material (different regions
The raw material that is used of manufacture concrete is different), slump, one or more of concrete grade etc..
Telescopic process of hydraulic jack is a pump cycles, and control by stages described above is relative to existing
There are first pump cycles in technology in the case of initial start-up hydraulic jack just directly to accelerate to target rate of pumping
Say, the control by stages in the technical scheme that the present invention is provided refers to initial in the case of initial start-up hydraulic jack
Ladder incrementally sets different phased goal pumping speed in several (for example, can be two or more) pump cycles
Degree, progressively to make rate of pumping be promoted to final goal rate of pumping (target rate of pumping i.e. described above).That is,
The control by stages of control device 102 pumping acceleration includes：Each stage in multiple stages is accelerated using different pumpings
Degree, the pumping acceleration of the latter half is more than the pumping acceleration of previous stage, and each stage is a pump cycles.
Reception device 101 is additionally operable to receive target rate of pumping v0, control device 102 is first according to the material spy for being received
Property data determine pumping acceleration set a11(t)…a1n(t), further according to the target rate of pumping for being received from pumping acceleration
The pumping acceleration a in each stage in multiple stages is chosen in set1i(t).It will be appreciated by those skilled in the art that control dress
Putting 102 can also directly obtain the pumping acceleration in each stage according to both material characteristic data and target rate of pumping.With
Upper pumping acceleration set is stored in advance in database, and material characteristic data are also stored in the database with pumping acceleration
The corresponding relation of each pumping acceleration in the corresponding relation and target rate of pumping of set and acceleration set, such as table 1 shows
The corresponding relation example of pumping acceleration and material characteristic data.
Table 1 pumps acceleration corresponding table example
| Pumped medium | Characterisitic parameter | Pumping acceleration set |
| Concrete | Label | a11(t)…a1n(t) |
| Water | — | a21(t)…a2n(t) |
| Slag | … | a31(t)…a3n(t) |
| … | … |
Pumping acceleration of the target rate of pumping with each stage is obtained, (selection obtains several pumping acceleration, just says
It is bright to need to be divided into several stages) after, N number of pumping acceleration for example is obtained as chosen, then in the feelings that multiple stages are N number of stage
Under condition, the control by stages rate of pumping of control device 102 includes：In the first stage, control device 102 controls the pump of hydraulic jack
Speed is sent to increase to the first rate of pumping with the first pumping acceleration；In the i-th stage, the control hydraulic jack of control device 102
Rate of pumping increases to the i-th rate of pumping with the i-th pumping acceleration, wherein, 2≤i≤N, and i, N are integer, the i-th -1 pumping
Acceleration<I-th pumping acceleration, and in the N stages, N rate of pumpings are target rate of pumping.
Specifically, such as N=3, the pumping acceleration respectively a in 3 stages that selection is obtained11(t)、a12(t)、a13
T (), then the step of 102 control by stages rate of pumping of control device is as follows：In the first stage, the control of control device 102 hydraulic pressure
The rate of pumping of oil cylinder is with the first pumping acceleration a11T () increases to the first rate of pumping；In second stage, control device 102
The rate of pumping of hydraulic jack is controlled with the second pumping acceleration a12T () increases to the second rate of pumping；In phase III, control
The rate of pumping of the control hydraulic jack of device 102 is with the 3rd pumping acceleration a13T () increases to the 3rd rate of pumping, the 3rd pump
Send speed as target rate of pumping.
Still by taking N=3 as an example, the 3rd rate of pumping is target rate of pumping v0, the first rate of pumping can be v0/ 3,
Second rate of pumping can be 2v0/ 3, it is determined that this N number of stage first in the case of N rate of pumpings, can be by number
The corresponding first to N pumping acceleration is obtained according to the corresponding relation stored in storehouse.It is preferred, however, that first to N pumps
Speed is sent to meet following condition：(i-th -1 the-the i-th -2 rate of pumping of rate of pumping)<(i-th the-the i-th -1 rate of pumping of rate of pumping),
By taking N=3 as an example, it is exactly specifically, (second the-the first rate of pumping of rate of pumping)<(the 3rd rate of pumping-the second pumps speed
Degree), i.e. the difference of the rate of pumping between the latter half and previous stage is incremented by over time, for example, the first rate of pumping can
Think v0/ 6, the second rate of pumping can be 3v0/6.Adopt be in this way in order to prevent start the hydraulic jack initial stage due to
Do not form concrete lubrication and cause the excessive problem of resistance.
By the way that with upper type, target rate of pumping v can be reached in the rate of pumping of hydraulic oil pump0Afterwards, after
In each pump cycles, the rate of pumping of hydraulic jack increases to target rate of pumping with maximum pumping acceleration.Here most
Hydraulic pressure in the big pumping normal pump cycles of acceleration (i.e. after multiple stages that above initial start-up hydraulic jack is experienced)
The oil cylinder maximum pumping acceleration to be reached, maximum pumping acceleration>N pumps acceleration, i.e., maximum pumping acceleration
More than the pumping acceleration in any one stage in N number of stage.
Fig. 4 is the curve that changes over time of rate of pumping of the hydraulic jack that the present invention is provided, as shown in figure 4, in pumping
In accelerator 401, the rate of pumping point three phases of hydraulic jack increase step by step, and pumping acceleration is increasing, the 3rd
In individual pump cycles, rate of pumping can reach target rate of pumping, and in normal pump cycles 402 after, hydraulic oil
The rate of pumping of cylinder increases to target rate of pumping with maximum pumping acceleration.Fig. 4 only shows and opens for the first time in an illustrative manner
The change curve of the rate of pumping of hydraulic cylinder, the scope of the present invention not limited to this, for example, accelerator can be divided into such as figure
Three phases shown in 4, it is also possible to be divided into two stages or four-stage etc..
Additionally, in order to ensure pumping pressure of the material in delivery pipe within normal range (NR), reception device 101 can be with
The pumping pressure of hydraulic oil pump is received, in the case where the pumping pressure for being received is more than pumping pressure threshold value set in advance,
Control device 102 the pumping acceleration of next stage control hydraulic oil pump be less than that control device 102 chosen this is next
The pumping acceleration in stage.Specifically, the quantity in set multiple stages can be increased and is reset from next stage
The pumping acceleration in each stage for starting.For example, in the case of N=3, if gone out during carrying out in the first stage
Existing pumping pressure is more than pumping pressure threshold value set in advance, then can be by remaining two stages (second stage and the 3rd rank
Section) be further subdivided into again three phases (certainly, however it is not limited to the quantity in stage, but in this case, at least three should be divided
The individual stage), and reset the pumping acceleration in each stage (being here three phases).
For by repartition the pumping acceleration at the end of each stage for obtaining reset can by with
Under type is carried out：Equalization divides each stage rate of pumping to be reached since next stage equally, to cause from lower single order
Difference in each stage rate of pumping to be reached that section starts between every two neighboring stage is equal；According to resulting
Each stage rate of pumping to be reached since next stage is calculated each stage since next stage
Pumping acceleration.Specifically, first according to rate of pumping and target the rate of pumping weight in the way of equalization is divided equally for having reached
Each stage rate of pumping to be reached newly is divided, according to each stage rate of pumping meter to be reached repartitioned
The pumping acceleration in each stage that calculation is repartitioned.For example, in the case of N=3, to be reached in the first stage
The rate of pumping for arriving is the first rate of pumping v1, it is the second rate of pumping v in the second stage rate of pumping to be reached2,
The three stages rate of pumping to be reached is the 3rd rate of pumping v3, v3As target rate of pumping, if carried out in the first stage
During there is pumping pressure more than pumping pressure threshold value set in advance, then control device 102 will again change point each stage
Rate of pumping.For example remaining two stages can be reclassified as three phases, that is, four ranks are had after repartitioning
Section (including the first stage for having completed), and according to the first rate of pumping v1With target rate of pumping v3To be calculated again
The rate of pumping of the three phases that division is obtained, the rate of pumping to be reached respectively of the second to fourth stage after repartitioning can
Think v1+(v3-v1)/3、v1+2(v3-v1)/3、v3(the pumping speed in each stage repartitioned in the way of equalization is divided equally
Degree), because the stroke of hydraulic jack is fixed, so to be reached the second to fourth stage after repartitioning is determined
Rate of pumping in the case of, the pumping acceleration of the second to fourth stage after repartitioning also can just be calculated.When
So, it should be understood by those skilled in the art that the target rate of pumping in each stage can also be repartitioned otherwise, for example,
As a example by above-mentioned, the rate of pumping that second and phase III after can repartitioning to be reached reduces a fixed value.
Obviously, the pumping acceleration that the pumping acceleration ratio in each stage after repartitioning is chosen first is low.By this
The mode of kind, can reduce transporting resistance of the material in delivery pipe, keep pumping pressure within normal range (NR), it is to avoid accelerated
Cause to convey the material plugging that flow resistance being uprushed and being caused in delivery pipe because the movement velocity of material is too fast in journey.
Fig. 5 is the block diagram of the material conveying control system that the present invention is provided, as shown in figure 5, the system includes above description
Material conveying control device 10, also including pressure sensor 20, the pressure sensor 20 is used to detect the pumping of hydraulic oil pump
Pressure.
Correspondingly, present invention also offers a kind of engineering machinery, including above-described material conveying control system.
Correspondingly, present invention also offers a kind of material conveyance control method, opened by hydraulic oil pump and pumping valve group
Spend to control the rate of pumping of hydraulic jack, so as to pump material with the rate of pumping, the method includes：Receive the thing of material
Material performance data；In the case of initial start-up hydraulic jack, according to material characteristic data come control by stages pumping material
Pumping acceleration.
It should be noted that the detail and benefit of the material conveyance control method of present invention offer are provided with the present invention
Material conveying control device be similar to, in this, it will not go into details.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, but, the present invention is not limited to above-mentioned reality
The detail in mode is applied, in range of the technology design of the invention, various letters can be carried out to technical scheme
Monotropic type, these simple variants belong to protection scope of the present invention.
The technical scheme provided by the present invention, is had the advantages that：1st, used in initial start-up hydraulic jack
The starting loop for changing over time, it is to avoid make corresponding rate of pumping mistake because initial start-up moment pumping acceleration is excessive
Greatly, it is to avoid cause material transporting resistance in delivery pipe to steeply rise the pumping pressure for causing and exceed limit value or even delivery pipe occurs
The phenomenon of blocking；2nd, compared with the target rate of pumping in normal pump cycles, several pumpings week of initial start-up hydraulic jack
Need the rate of pumping for reaching smaller set by phase, so that the transporting resistance of material is small in delivery pipe, this is conducive to the defeated of material
Send, reduce and probability of the pumping pressure more than limit value occur；3rd, target rate of pumping can be reached in repeatedly acceleration, rate of pumping
In normal pump cycles afterwards, pumped using maximum pumping acceleration, normal pumping situation is improve to greatest extent
Under rate of pumping, improve the average rate of pumping in normal pump cycles, and substantially increase pumping efficiency and pumping
Energy.
It is further to note that each particular technique feature described in above-mentioned specific embodiment, in not lance
In the case of shield, can be combined by any suitable means.In order to avoid unnecessary repetition, the present invention to it is various can
The combination of energy is no longer separately illustrated.
Additionally, can also be combined between a variety of implementation methods of the invention, as long as it is without prejudice to originally
The thought of invention, it should equally be considered as content disclosed in this invention.
Claims (22)
1. a kind of material conveys control device, and the equipment controls hydraulic oil by controlling the aperture of hydraulic oil pump and pumping valve group
The rate of pumping of cylinder, so as to pump the material with the rate of pumping, it is characterised in that the equipment also includes：
Reception device, receives the material characteristic data of the material；
Control device, in the case of initial start-up hydraulic jack, pumps according to the material characteristic data come control by stages
The pumping acceleration of the material, wherein, each stage is a pump cycles.
2. equipment according to claim 1, it is characterised in that pump acceleration described in the control device control by stages
Including：
Each stage in multiple stages uses the pumping acceleration of different pumping acceleration, the latter half to be more than preceding single order
The pumping acceleration of section.
3. equipment according to claim 2, it is characterised in that the reception device is additionally operable to receive target rate of pumping,
The control device determines pumping acceleration set according to the material characteristic data, and according to the target rate of pumping from institute
State the pumping acceleration that each stage in the multiple stage is chosen in pumping acceleration set.
4. equipment according to claim 3, it is characterised in that described in the case where the multiple stage is N number of stage
Rate of pumping described in control device control by stages includes：
In the first stage, the rate of pumping of the control device control hydraulic jack increases to the first pump with the first pumping acceleration
Send speed；And
In the i-th stage, the rate of pumping of the control device control hydraulic jack increases to the i-th pumping with the i-th pumping acceleration
Speed；
Wherein, 2≤i≤N, and i, N are integer, the i-th -1 pumping acceleration<I-th pumping acceleration, and in the N stages, the
N rate of pumpings are target rate of pumping.
5. equipment according to claim 4, it is characterised in that the first rate of pumping to N rate of pumpings meets following article
Part：
(i-th -1 the-the i-th -2 rate of pumping of rate of pumping)<(i-th the-the i-th -1 rate of pumping of rate of pumping).
6. equipment according to claim 3, it is characterised in that reach the target in the rate of pumping of the hydraulic oil pump
After rate of pumping, in each pump cycles, the rate of pumping of the hydraulic jack increases to institute with maximum pumping acceleration
State target rate of pumping, the maximum pumping acceleration>N pumps acceleration, and the maximum pumping acceleration is normal pumping
Pumping acceleration employed in cycle.
7. equipment according to claim 3, it is characterised in that the reception device is additionally operable to receive the hydraulic oil pump
Pumping pressure, in the case where the pumping pressure is more than pumping pressure threshold value set in advance, the control device is next
The pumping acceleration of hydraulic jack described in stage control accelerates less than the pumping of the next stage selected by the control device
Degree.
8. equipment according to claim 7, it is characterised in that the control device controls the hydraulic oil in next stage
The pumping acceleration of cylinder includes less than the pumping acceleration of the next stage selected by the control device：
Increase the pumping acceleration in each stage of the quantity and reset in the multiple stage since the next stage.
9. equipment according to claim 8, it is characterised in that the quantity in the increase the multiple stage simultaneously resets
The pumping acceleration in each stage since the next stage includes：
Equalization divides each stage rate of pumping to be reached since the next stage equally, to cause from the lower single order
Difference in each stage rate of pumping to be reached that section starts between every two neighboring stage is equal；And
It is calculated from described according to resulting each stage rate of pumping to be reached since the next stage
The pumping acceleration in each stage that next stage starts.
10. equipment according to claim 1, it is characterised in that the material characteristic data include pumped medium, make former
One or more of material, slump.
11. a kind of material conveying control systems, it is characterised in that the system includes：
Equipment according to any one of claim 1 to 10 claim；And
Pressure sensor, the pumping pressure for detecting the hydraulic oil pump.
12. a kind of engineering machinery, it is characterised in that including the material conveying control system described in claim 11.
A kind of 13. material conveyance control methods, the pumping of hydraulic jack is controlled by the aperture of hydraulic oil pump and pumping valve group
Speed, so as to pump the material with the rate of pumping, it is characterised in that the method also includes：
Receive the material characteristic data of the material；
In the case of initial start-up hydraulic jack, the material is pumped come control by stages according to the material characteristic data
Pumping acceleration, wherein, each stage is a pump cycles.
14. methods according to claim 13, it is characterised in that acceleration is pumped described in the control by stages to be included：
Each stage in multiple stages uses the pumping acceleration of different pumping acceleration, the latter half to be more than preceding single order
The pumping acceleration of section.
15. methods according to claim 14, it is characterised in that the method also includes：
Receive target rate of pumping；
Determine pumping acceleration set according to the material characteristic data；
Each stage in the multiple stage is chosen from the pumping acceleration set according to the target rate of pumping
Pumping acceleration.
16. methods according to claim 15, it is characterised in that in the case where the multiple stage is N number of stage, institute
Stating rate of pumping described in control by stages includes：
In the first stage, the rate of pumping of control hydraulic jack increases to the first rate of pumping with the first pumping acceleration；And
In the i-th stage, the rate of pumping of hydraulic jack is controlled to increase to the i-th rate of pumping with the i-th pumping acceleration；
Wherein, 2≤i≤N, and i, N are integer, the i-th -1 pumping acceleration<I-th pumping acceleration, and in the N stages, the
N rate of pumpings are target rate of pumping.
17. methods according to claim 16, it is characterised in that below the first rate of pumping to N rate of pumpings meets
Condition：
(i-th -1 the-the i-th -2 rate of pumping of rate of pumping)<(i-th the-the i-th -1 rate of pumping of rate of pumping).
18. methods according to claim 15, it is characterised in that reach the mesh in the rate of pumping of the hydraulic oil pump
After mark rate of pumping, in each pump cycles, the rate of pumping of the hydraulic jack is increased to maximum pumping acceleration
The target rate of pumping, the maximum pumping acceleration>N pumps acceleration, and the maximum pumping acceleration is normal pump
Send the pumping acceleration employed in the cycle.
19. methods according to claim 15, it is characterised in that the method also includes：
Receive the pumping pressure of the hydraulic oil pump；
In the case where the pumping pressure is more than pumping pressure threshold value set in advance, the hydraulic oil is controlled in next stage
The pumping of cylinder accelerates the pumping acceleration less than the selected next stage.
20. methods according to claim 19, it is characterised in that the pump in the next stage control hydraulic jack
Send acceleration includes less than the pumping acceleration of the next stage selected by the control device：
Increase the pumping acceleration in each stage of the quantity and reset in the multiple stage since the next stage.
21. methods according to claim 20, it is characterised in that the quantity in the increase the multiple stage simultaneously sets again
The pumping acceleration in fixed each stage since the next stage includes：
Equalization divides each stage rate of pumping to be reached since the next stage equally, to cause from the lower single order
Difference in each stage rate of pumping to be reached that section starts between every two neighboring stage is equal；And
It is calculated from described according to resulting each stage rate of pumping to be reached since the next stage
The pumping acceleration in each stage that next stage starts.
22. methods according to claim 13, it is characterised in that the material characteristic data include pumped medium, make
One or more of raw material, slump.
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| CN201410581419.0A CN105626500B (en) | 2014-10-27 | 2014-10-27 | Material conveying control equipment, system and method and engineering machinery |
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| CN201410581419.0A CN105626500B (en) | 2014-10-27 | 2014-10-27 | Material conveying control equipment, system and method and engineering machinery |
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| CN112832528B (en) * | 2020-08-12 | 2022-04-26 | 中联重科股份有限公司 | Pumping control method and device, material distribution method and device and material distribution equipment |
| CN114922819B (en) * | 2022-05-23 | 2023-01-31 | 中联重科股份有限公司 | Identification method of newly transported concrete in pumping equipment and pumping control method |
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| US4643649A (en) * | 1984-07-20 | 1987-02-17 | The Perkin-Elmer Corporation | Digital control for rapid refill of a liquid chromatograph pump |
| CN1850560A (en) * | 2006-05-11 | 2006-10-25 | 江苏工业学院 | Intelligent coutroller for dual air-cushion belt conveyer |
| CN102410268A (en) * | 2011-10-20 | 2012-04-11 | 中联重科股份有限公司 | Method and device for controlling hydraulic oil cylinder, pumping system and concrete pumping equipment |
| CN102536933A (en) * | 2012-02-06 | 2012-07-04 | 三一重工股份有限公司 | Hydraulic pumping system and concrete-pumping equipment comprising same |
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