CN210769176U - Pumping control system of concrete pumping equipment - Google Patents
Pumping control system of concrete pumping equipment Download PDFInfo
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- CN210769176U CN210769176U CN201921551336.1U CN201921551336U CN210769176U CN 210769176 U CN210769176 U CN 210769176U CN 201921551336 U CN201921551336 U CN 201921551336U CN 210769176 U CN210769176 U CN 210769176U
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Abstract
The utility model discloses a concrete pumping equipment pumping control system, including receiving user input information and to the central controller that distributed controller sent pumping control command, detect the signal detection device of master cylinder switching-over signal for receive switching-over signal and carry out the distributed controller of pumping control command. The buffer module is further included, and the distributed controller controls the reversing of the main oil cylinder, the reversing of the swing oil cylinder and the action of the buffer module. The electronic control reversing pilot valve group comprises a main oil cylinder reversing pilot valve, a swinging oil cylinder reversing pilot valve and a buffering pilot valve which respectively control the main system reversing valve, the swinging oil cylinder reversing valve and the buffering module to act. The utility model discloses a system switching-over is efficient, the stroke utilization ratio is high, and the impact of switching-over process is little.
Description
Technical Field
The utility model relates to a concrete pumping equipment pumping control system belongs to engineering machine tool technical field.
Background
Concrete pumping equipment is a construction engineering machine which utilizes a pipeline to convey concrete to a construction site. The hydraulic pump is driven by a diesel engine to generate high-pressure oil, so that the main oil cylinder and the two concrete conveying cylinders connected with the main oil cylinder are driven to alternately reciprocate, and under the action of orderly cooperation of the reversing valve, concrete is continuously sucked into the conveying cylinders from the hopper and is conveyed to a construction site through the conveying pipes. The pumping mechanism is an actuating mechanism of the concrete pump truck in the pumping process. Fig. 1 is a schematic structural diagram of a concrete pumping mechanism in the prior art, and mainly comprises a main oil cylinder 1, a conveying cylinder 2, a water tank 3, a concrete piston, a hopper 5, a swing oil cylinder 8, a distribution valve 9, a stirring mechanism 7, a discharge port 6, a pipe and the like. The concrete pistons are respectively connected with the main oil cylinder piston rods, and under the action of the main oil cylinder, the concrete pistons reciprocate, one cylinder moves forwards, and the other cylinder moves backwards; the outlet of the conveying cylinder is communicated with the hopper and the distribution valve, the discharge end of the distribution valve is connected with the discharge port 6, the other end of the distribution valve is connected with the swing arm of the swing mechanism 8 through a spline shaft, and the distribution valve can swing left and right under the action of the swing oil cylinder 81 of the swing mechanism 8. As shown in fig. 2(a), when the pump is positive and the concrete is pumped, the concrete piston moves forward and moves backward under the action of the main oil cylinder, and simultaneously, the distribution valve is communicated with the conveying cylinder and the conveying cylinder is communicated with the hopper under the action of the swing oil cylinder. The concrete piston retreats to suck the concrete in the hopper into the conveying cylinder, and the concrete piston advances to pump the concrete material in the conveying cylinder into the distributing valve. When the concrete piston retreats to the stroke end, the control system sends a signal, the main oil cylinder reverses, the swing oil cylinder reverses simultaneously, the distribution valve is communicated with the conveying cylinder, the conveying cylinder is communicated with the hopper, and then the concrete piston retreats and advances. And circulating in sequence, thereby realizing continuous pumping. In the case of the back pump, as shown in fig. 2(b), the delivery cylinder in the suction stroke is communicated with the distribution valve and the delivery cylinder in the push stroke is communicated with the hopper by the back pump operation, thereby drawing the concrete in the pipeline back to the hopper.
At present, the reversing modes of the main oil cylinder and the swing oil cylinder in the pumping process are divided into hydraulic control reversing and electric control reversing according to the type of a reversing signal. The hydraulic control reversing is that when the main oil cylinder runs to the stroke end, the main oil cylinder outputs a pressure signal to control the reversing of the swing oil cylinder and the main oil cylinder through the output of the signal valve. Because the hydraulic control reversing mode is controlled and reversed by depending on hydraulic signals, the requirements on the machining precision and the size of hydraulic system components are high, the defects of easy internal leakage and disordered reversing exist in special working conditions, and the reversing matching adjustment of the main oil cylinder and the swing oil cylinder is difficult to perform due to the structural limitation of a signal valve. The electric control reversing is that a proximity switch is arranged at the tail end of the main oil cylinder, when the piston of the main oil cylinder moves to the tail end of the stroke, the wiring switch senses and outputs an electric signal to the controller, and then the controller sends an instruction to control the reversing of the swing oil cylinder and the main oil cylinder. The invention relates to a concrete pumping control method and a concrete pumping control device, wherein (application No. 201410806554.0, No. CN 104847642B) provides that two stroke detection positions are arranged near the stroke end of each main oil cylinder, and after a main oil cylinder piston reaches a first stroke position (within the range of 200-300mm away from the stroke end), the flow of a main pump is changed from a working flow to a first set flow (50 percent of the maximum flow of the main pump); after the stroke of the oil cylinder reaches a second stroke position, changing the flow of the main pump into a second set flow (20 percent of the maximum flow of the main pump); after delaying the first time length relative to the sensing time of reaching the second stroke position, sending a reversing instruction of the swing oil cylinder; and sending a command of reversing the main oil cylinder after delaying a second time length relative to the induction time, wherein the second time length is longer than the first time length.
The control signals of the concrete pumping equipment are low-speed control signals such as pumping enable, positive and negative pump switching, pumping speed adjustment and the like, and the other control signals are high-speed control signals for pumping reversing control. Because the reversing process is short (usually, the reversing time is 0.2s), the control of the cylinder tilting reversing, the master cylinder reversing, the reversing pressure buffering and the like and the logic and time sequence control among the control are finished in such a short time, and accordingly, the control is fast and accurate.
In the prior art, all control of concrete pumping equipment is completed by a central controller, so that the response time and the reversing precision of pumping reversing control are greatly reduced. Therefore, the reversing instructions of the swing oil cylinder and the main oil cylinder are output from the time when the oil cylinder in-place signal is received, the electrical delay time is long, and the reversing response is slow. Meanwhile, due to the fact that the electric delay time is long, the reserved buffer distance of the main oil cylinder is large under different pumping speeds in the whole pumping process. The main oil cylinder and the swing oil cylinder have the advantages that the main oil cylinder and the swing oil cylinder are large in actual reversing position consistency error, the reversing time sequence is not accurately matched, the reversing efficiency is low, and the stroke utilization rate of the main oil cylinder is low due to the fact that the larger buffer distance ensures that the main oil cylinder completes reversing within the electric delay time after the piston of the main oil cylinder runs to the detection position without colliding with the buffer distance reserved by the cylinder.
Meanwhile, in the prior art, when the piston of the main oil cylinder reaches the first stroke position, the impact is reduced by reducing the discharge capacity of the main pump, however, in practical application, because the reversing time is short, the change response of the discharge capacity of the main pump is slow, the control of the discharge capacity is not accurate, the reversing impact is reduced by reducing the discharge capacity of the main pump, the expected effect is difficult to achieve, in the reversing process, the discharge capacity of the main pump is changed frequently and rapidly, and the service life and the reliability of the main pump are influenced.
The existing pumping control system has the problems of inaccurate reversing matching, large reversing pressure impact, low stroke utilization rate and the like.
Disclosure of Invention
An object of the utility model is to overcome the not enough of pumping control system stroke utilization ratio among the prior art, provide a concrete pumping equipment pumping control system, technical scheme is as follows:
the pumping control system of the concrete pumping equipment comprises a central controller, a signal detection device and a distributed controller, wherein the central controller is used for receiving user input information and sending a pumping control instruction to the distributed controller, the signal detection device is used for detecting a reversing signal of a main oil cylinder, and the distributed controller is used for receiving the reversing signal and executing the pumping control instruction.
Furthermore, the pumping control system also comprises a buffer module, and the distributed controller controls the reversing of the main oil cylinder, the reversing of the swing oil cylinder and the action of the buffer module.
Preferably, the electronic control reversing pilot valve group comprises a main oil cylinder reversing pilot valve, a swing oil cylinder reversing pilot valve and a buffering pilot valve, wherein the main oil cylinder reversing pilot valve, the swing oil cylinder reversing pilot valve and the buffering pilot valve respectively control the main system reversing valve, the swing oil cylinder reversing valve and the buffering module to act.
Further, the signal detection device is a pressure-resistant magnetic sensor arranged on the main oil cylinder.
Compared with the prior art, the utility model discloses the beneficial effect who reaches:
the utility model comprehensively considers the factors of matching in the reversing process, reversing pressure impact, stroke utilization rate of the main oil cylinder and the like, designs a distributed electric control reversing control system, and improves the response speed and precision in the reversing process; meanwhile, on the basis of the control system, an electric control reversing buffer technology is designed, and the problem of reversing impact is solved; the reversing time sequences of the main oil cylinder and the swing oil cylinder are matched, so that the reversing efficiency is improved.
Drawings
FIG. 1 is a schematic structural diagram of a concrete pumping mechanism of the prior art;
FIG. 2 is a prior art schematic of a pumping mechanism illustrating a pumping process (a) positive pumping condition; (b) a reverse pump state;
fig. 3 is a schematic diagram of the pumping principle of the pumping control system of the present invention;
fig. 4 is a schematic diagram of a pumping control system of the present invention;
fig. 5 is a schematic diagram of the commutation control of the present invention;
in the figure: 1-main oil cylinder, 11-first main oil cylinder, 12-second main oil cylinder, 2-conveying cylinder, 21-first conveying cylinder, 211-first concrete piston, 22-second conveying cylinder, 221-second concrete piston, 3-water tank, 4-signal detection device, 41-first signal detection device, 42-second signal detection device, 5-hopper, 6-discharge port, 7-stirring mechanism, 8-swinging mechanism, 81-swinging oil cylinder and 9-distribution valve.
Detailed Description
The present invention will be further described with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 3 and 4, the pumping control system of the concrete pumping equipment includes a central controller for receiving user input information and sending a pumping control instruction to the distributed controller, a signal detection device 4 for detecting a reversing signal of the master cylinder 1, and the distributed controller for receiving the reversing signal and executing the pumping control instruction. After receiving the pumping instruction and receiving the reversing signal, the reversing action is directly controlled by the distributed controller without passing through a central controller; the aim is to realize quick response without a central controller; after the pumping action is stopped, the distributed control may transmit the commutation process data (e.g., number of commutations) to the central controller.
In this embodiment, the distributed controller dedicated to pumping commutation specifically adopts an independently programmable small-sized controller, which has a parameter-configurable input/output function, and is used for receiving a signal transmitted from the signal detection device 4 and outputting a control instruction, wherein the input/output response time reaches 10ms level; and simultaneously, the system is communicated with the central controller in real time through a CAN interface.
The central controller is used as a centralized control unit of the concrete pumping equipment, controls other actions of the equipment, and is used for receiving various inputs of a user and the outside, controlling all actions (except pumping direction change), sending instructions and parameters such as pumping start/stop, positive and negative pumps, pressure holding, displacement and the like to the distributed controllers, and receiving operation data (pumping direction change times and the like) of the distributed controllers.
The pumping control system further comprises a buffer module, and the distributed controller controls the reversing of the main oil cylinder 1, the reversing of the swing oil cylinder 81 and the action of the buffer module.
In this embodiment, as shown in fig. 5, the electronic control reversing pilot valve group further includes a master cylinder reversing pilot valve, a swing cylinder reversing pilot valve, and a buffer pilot valve, which respectively control the actions of the master system reversing valve, the swing cylinder reversing valve, and the buffer module.
After receiving a pumping control instruction of the distributed controller, the electronic control reversing pilot valve group controls the reversing of the main oil cylinder 1, the reversing of the swing oil cylinder 81 and the reversing buffer action according to specific control logic. The pilot valve of the buffer module is controlled to enable the buffer module to act, and the action of the buffer module can reduce the system pressure during reversing. The specific control logic is that the distributed controller is at t0Controlling the swing oil cylinder 81 to change direction at any moment; at t1(i.e. t)1＝t0+△t1) The moment buffer module acts; at t2(t2＝t0+△t2) And a reversing signal is output at any time to control the main oil cylinder 1 to reverse.
Preferably, in this embodiment, the buffer module further includes a first overflow valve and a second overflow valve that are arranged in parallel, and the overflow pressure of the first overflow valve is higher than the overflow pressure of the second overflow valve. As shown in fig. 5, in particular, the first relief valve and the second relief valve are installed on the main system reversing valve, and can control the working pressure of the main system. The first overflow valve and the second overflow valve are connected in parallel, and the working pressure of the system is the minimum overflow valve set pressure. When buffering is performed, the second overflow valve with low set pressure is opened by the buffering pilot valve.
Preferably, in the present embodiment, the master cylinder 1 is switched from the first relief valve operation to the second relief valve operation when the direction is changed. Namely, when the main oil cylinder 1 is reversed, the second overflow valve with low overflow pressure is automatically switched to work, the system pressure during reversing can be quickly reduced, and the reversing buffer effect is obvious.
The signal detection device 4 is a pressure-resistant magnetic sensor installed on the master cylinder 1. The pressure-resistant magnetic sensor can detect ferrous metal of the oil cylinder piston main body, and can output a switching value signal to the distributed controller when the pressure-resistant magnetic sensor senses that the piston of the main oil cylinder 1 passes through.
As shown in fig. 4, the pumping control method of the concrete pumping equipment comprises the following steps:
a user inputs a control instruction to the central controller;
the central controller sends a pumping control instruction in the control instructions to the distributed controllers;
the distributed controller feeds back the reversing information to the central controller;
the signal detection device 4 detects a reversing signal of the main oil cylinder 1 and transmits the reversing signal to the distributed controller;
the distributed controller controls the main oil cylinder 1 to change direction, the swing oil cylinder 81 to change direction and the buffer module to act according to the change signal.
The pumping control instruction comprises a positive pump instruction, a negative pump instruction and a main pump displacement parameter value setting instruction;
distributed controller at t0Controlling the swing oil cylinder 81 to change direction at any moment; at t1(t1＝t0+△t1) The moment buffer module acts; at t2(t2＝t0+△t2) And a reversing signal is output at any time to control the main oil cylinder 1 to reverse.
In the embodiment, the operation speed v of the master cylinder and the reversing time △ t of the swing cylinder are optimized1Master cylinder reversal time △ t2Satisfies the following relationship:
△t1＝k1/v+k2
△t2＝k3/v+k4
v＝S/△t
wherein: k is a radical of1、k3Is the timing control coefficient; k is a radical of2、k4The correction coefficient is S is the stroke of the main oil cylinder, △ t is the time difference between the current reversing and the last reversing, the reversing process is updated in real time each time, and △ t of the first pumping action is preset by a program.
Under different working conditions, the operating speeds of the main oil cylinder 1 are different, and the larger the discharge capacity is, the faster the operating speed of the main oil cylinder 1 is, so that in order to ensure the stability and the continuity of discharging in the pumping process, the reversing time △ t of the swing oil cylinder 81 under different discharge capacities is required1And the reversing time △ t of the master cylinder 12Carrying out matching adjustment, wherein △ t is carried out when the running speed of the master cylinder is higher1And △ t2The smaller.
The following will explain the pumping operation in detail with reference to fig. 3 and 4:
under the positive pump state: according to the input of a user, the central controller sends a pumping start (positive pump) instruction and a displacement parameter value to the distributed controller, and the distributed controller controls the main oil cylinder reversing pilot valve and the swing oil cylinder 81 reversing pilot valve to act according to the logic of the positive pump, so that the main oil cylinder 1 and the swing oil cylinder 81 are matched to perform positive pump work. That is, the piston of the first main oil cylinder 11 in fig. 3 moves to the right, which drives the first concrete piston 211 in the conveying cylinder 2 to move to the right, and simultaneously the swing oil cylinder 81 connects the distributing valve 9 with the first conveying cylinder 21, so that the concrete in the first conveying cylinder 21 is pushed out; the second master cylinder 12 piston and the second concrete piston 221 of the second delivery cylinder 22 move leftwards, and the concrete in the hopper 5 is sucked into the second delivery cylinder 22.
When the piston of the first master cylinder 11 moves to the position S1 of the first signal detection device 41 rightward (the detection position S1 and the detection position S2 are the buffer distances of the master cylinder 1 at the maximum moving speed, the utility model discloses well detection position S1 and S2 are 100mm away from the end of the master cylinder stroke), the position sensor of the detection position S1 outputs an electric signal to the distributed controller. The distributed controller outputs a signal at the time t0 to control the pilot valve of the swing oil cylinder 81 to act, the swing oil cylinder 81 carries out reversing, and the distribution valve 9 is communicated with the second conveying cylinder 22 after reversing; at t1(t1＝t0+△t1) The time output signal controls the action of a buffer module pilot valve, and the system operation pressure is reduced; the distributed controller then at t2(t2＝t0+△t2) The time output signal controls the action of the reversing pilot valve of the main oil cylinder, the main oil cylinder 1 starts reversing, the piston of the second main oil cylinder 12 and the second concrete piston 221 of the second conveying cylinder 22 run rightwards after reversing, and the concrete is pushed out through the distributing valve 9; the piston of the first master cylinder 11 and the first concrete piston 211 of the first transfer cylinder 21 run leftward, sucking concrete from the hopper 5. When the piston of the second master cylinder 12 is operated to the position S2 of the second signal detection device 42, an electric signal is outputted to the slaveAnd the control process of the distributed controller is similar to the steps.
The utility model discloses pump sending switching-over action adopts exclusive distributed controller independent control, and controller response time reaches 10ms level, far surpasss the 100ms level of central controller, and the switching-over response is fast, and control accuracy is high, and the buffer distance who hits the jar setting for avoiding the 1 switching-over of master cylinder shortens by a wide margin, and the stroke utilization ratio of master cylinder is high.
On the basis of quick-response reversing control, reversing matching logic control of the main oil cylinder 1 and the swing oil cylinder 81 at different pumping speeds is introduced, and stable and continuous discharging in the pumping process is guaranteed at each pumping speed.
Meanwhile, an electric control buffering technology is adopted, the running pressure of the main oil cylinder can be rapidly reduced while the swing oil cylinder 81 is reversed, the main oil cylinder is ensured to be reversed under a low-pressure working condition, and the buffering impact is effectively reduced.
The utility model discloses a concrete pumping equipment pumping control system has realized following technological effect:
(1) the pumping reversing action adopts a distributed controller, the response is fast, and the stroke utilization rate of the main oil cylinder is high;
(2) reversing matching of the main oil cylinder and the swing oil cylinder at different pumping speeds;
(3) and an electric control buffering technology is adopted, so that the problem of reversing impact is solved.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be considered as the protection scope of the present invention.
Claims (6)
1. The pumping control system of the concrete pumping equipment is characterized by comprising a central controller for receiving user input information and sending pumping control instructions to distributed controllers, a signal detection device for detecting reversing signals of main oil cylinders, and the distributed controllers for receiving the reversing signals and executing the pumping control instructions.
2. The pumping apparatus pumping control system of claim 1, further comprising a buffer module, the distributed controller controlling master cylinder reversal, swing cylinder reversal, and the buffer module action.
3. The pumping control system of pumping equipment according to claim 1 or 2, further comprising an electrically controlled reversing pilot valve set, wherein the electrically controlled reversing pilot valve set comprises a main cylinder reversing pilot valve, a swing cylinder reversing pilot valve and a buffer pilot valve, which respectively control the main system reversing valve, the swing cylinder reversing valve and the buffer module to act.
4. The pumping apparatus pumping control system of claim 3, wherein the buffer module further comprises a first relief valve and a second relief valve arranged in parallel, and a relief pressure of the first relief valve is higher than a relief pressure of the second relief valve.
5. The pumping apparatus pumping control system of claim 4, wherein the master cylinder is switched from the first spill valve action to the second spill valve action upon a reversal.
6. The pumping apparatus pumping control system of claim 1, wherein the signal detection device is a compression-resistant magnetic sensor mounted on the master cylinder.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921551336.1U CN210769176U (en) | 2019-09-18 | 2019-09-18 | Pumping control system of concrete pumping equipment |
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| CN201921551336.1U CN210769176U (en) | 2019-09-18 | 2019-09-18 | Pumping control system of concrete pumping equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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