WO2013082976A1 - 粘稠体泵送机构的控制装置、控制方法及混凝土泵 - Google Patents
粘稠体泵送机构的控制装置、控制方法及混凝土泵 Download PDFInfo
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- WO2013082976A1 WO2013082976A1 PCT/CN2012/082694 CN2012082694W WO2013082976A1 WO 2013082976 A1 WO2013082976 A1 WO 2013082976A1 CN 2012082694 W CN2012082694 W CN 2012082694W WO 2013082976 A1 WO2013082976 A1 WO 2013082976A1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B15/00—Pumps adapted to handle specific fluids, e.g. by selection of specific materials for pumps or pump parts
- F04B15/02—Pumps adapted to handle specific fluids, e.g. by selection of specific materials for pumps or pump parts the fluids being viscous or non-homogeneous
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
- F04B49/06—Control using electricity
Definitions
- Control device Control device, control method and concrete pump for viscous body pumping mechanism
- the present invention relates to a viscous body pumping mechanism, and more particularly to a control device, a control method for a viscous body pumping mechanism, and a concrete pump using the same. Background technique
- the concrete pumping mechanism of the related art is composed of a pumping unit 1, a pair of cylinders 6 and 7, a hopper 8 and a S wide (i.e., a concrete distribution width) 9; a pumping unit 1
- the main oil pump 2 and the auxiliary oil pump 13 By the main oil pump 2 and the auxiliary oil pump 13, the main wide group 3 and the auxiliary wide group 15, a pair of main cylinders 4 and 5, a pair of sub-cylinders 16 and 17, the proximity switches 10 and 11, the control unit 12 and the accumulator 14 , wherein the main oil pump 2 is equipped with a pressure sensor, and the pressure sensor detects the pressure of the main oil pump 2.
- the concrete pump works as follows: The cylinders 6 and 7 draw concrete from the hopper 8, and then pour it into the working position through a duct (not shown). The pistons of the blowers 6 and 7 alternately reciprocate under the control of the master cylinders 4 and 5; the S9 connects one of the blowers 6 and 7 to the transfer pipe, and the other directly connects to the hopper 8 and draws concrete therefrom; The cylinders 16 and 17 are driven by the drive shaft to swing around S 9 . Through the coordinated action of S-wide 9 and the cylinders 6 and 7, the concrete flows approximately continuously in the conveying pipe.
- the flow direction of the two concretes depends on the position of the S9 when the cylinders 6 and 7 are moving.
- the main oil pump 2 supplies pressurized oil to drive a pair of main cylinders 4 and 5 through the main wide group 3, and the auxiliary oil pump 13 supplies pressurized oil to drive a pair of sub-cylinders 16 and 17 through the sub-wide group 15. If the pressure oil of the main oil pump 2 enters the rod chamber 4B of the main cylinder 4 or the rod chamber 5B of the main cylinder 5, the rodless chamber of the main cylinder 4 4A is connected to the rodless chamber 5A of the main cylinder 5 through a pipeline.
- the pressurized oil enters from the rod chamber 5B of the main cylinder 5, and is discharged from the rod chamber 4B of the main cylinder 4, at which time the piston rod of the main cylinder 5 is retracted, and the piston rod of the main cylinder 4 is extended; It enters from the rodless chamber 17A of the sub-cylinder 17 and is discharged from the rodless chamber 16A of the sub-cylinder 16. At this time, the piston rod of the sub-cylinder 16 is retracted, and the piston rod of the sub-cylinder 17 is extended, and S wide 9 is swung.
- the proximity switch 10 signals the control unit 12, and the control unit 12 signals the main wide group 3 and the sub-wide group 15 in a fixed logic sequence (signaling to the main wide group 3 at intervals of t10 seconds) Then, after t20 seconds, the signal is sent to the sub-group 15, tlO and tlO are fixed time. This is the fixed logic order of the related technology).
- the pressurized oil enters from the rod chamber 4B of the main cylinder 4, is discharged from the rod chamber 5B of the main cylinder 5, and the main cylinders 4 and 5 start to reverse, the main cylinder 5 piston rod Starting to extend, the piston rod of the main cylinder 4 begins to retract, driving the cylinders 6 and 7 to reverse the piston;
- the pressurized oil enters from the rodless chamber 16A of the sub-cylinder 16 from The rodless chamber 17A of the sub-cylinder 17 is discharged, the sub-cylinders 16 and 17 start to reversing, the piston rod of the sub-cylinder 16 is extended, and the piston rod of the sub-cylinder 17 is retracted, causing the S-wide 9 to swing.
- the main oil pump 2 is not artificially changed during the commutation process, the proximity switches 10 and 11 on the main cylinders 4 and 5 are fixed in position, the main cylinder 4 piston is moved to the proximity switch 10, or the main cylinder 5 piston is moved to the proximity switch.
- the proximity switch 10 or 11 sends a signal to the control unit 12, at which time the control unit 12 receives the signal sent by the proximity switch, sends a signal to the main wide group 3 every t10 seconds, and then sends a signal to the sub-wide after t20 seconds.
- Group 15, tlO and t20 are fixed times.
- the control unit controls the time between transmitted signals in a fixed logical sequence, and the transmission time is fixed.
- the control system used in the related art has the following problems: 1.
- the commutation width is from a working position to another working position, and the transition position is required. Generally, the commutation is wide from the working position.
- the flow area of the abutment is reduced, and the flow rate of the main oil pump 2 does not match the flow capacity, resulting in a pressure shock.
- the pistons of the main cylinders 4 and 5 are reversed, the direction of the piston speed is abrupt, because the flow has inertia, so when the piston is reversed, the hydraulic system will generate a pressure shock. 3.
- the signal port position is fixed, and the proximity switches 10 and 11 send signals to the control unit 12 and the control unit 12 to signal the logic of the main wide group 3, and the pumping speed and load pressure are uncertain, if the piston moves Before the end of the main cylinder, the main wide group 3 responds to the signal from the control unit 12 to control the main cylinder reversing, the working stroke is shortened, the piston movement is not in place; if the main piston moves to the end of the main cylinder, the control unit 12 has not signaled If the main wide group 3 causes the main cylinder to not change direction, a "crash cylinder" phenomenon will occur. 4.
- the control unit 12 signals the main wide group 3 and the control unit 12 to signal to the sub-wide group 15 to be logically fixed, and the working conditions such as the pumping speed and the load pressure are uncertain, if the main cylinders 4 and 5 move and the sub-cylinder 16 If the motion is not matched with the 17 movement, the concrete in the cylinder is pumped into the hopper, and the concrete in the conveying pipe is sucked into the cylinder, and the concrete in the hopper is splashed, and the wear of the wearing parts is accelerated. These problems can reduce pumping performance and shorten equipment life. Summary of the invention
- the present invention is directed to providing a control device for improving the pumping performance of a concrete pump.
- the control device of the present invention is applied to a concrete pumping mechanism, which comprises:
- At least one functional device for implementing at least one corresponding function
- At least one detecting unit configured to detect a corresponding running performance after the at least one functional component implements the at least one corresponding function
- control unit respectively connected to the at least one functional device and the at least one detecting unit, controlling the at least one functional device to implement the at least one corresponding function according to a position of a piston in the pumping mechanism, and according to the detecting unit
- the feedback signal adjusts the time at which the control signal is sent to the at least one functional device to optimize the corresponding operational performance.
- the at least one functional device comprises at least one of a main oil pump displacement adjusting device, a main wide group and a secondary wide group; respectively, the operating performance is at least one of the following three types: The pressure shock of the hydraulic system, whether the main cylinder piston hits the cylinder or is in place, and whether the reversing of the cylinder piston is consistent with the wide distribution of the concrete.
- control device further includes an expert library for storing a time when the control unit sends a control signal to the function device under various operating conditions.
- control device further includes a working condition collecting unit for detecting current working condition information; the control unit includes a working condition matching module, configured to find the closest from the expert database according to the detected working condition information. The time at which the control signal is sent.
- control unit comprises an update module, configured to update the current operating condition information and the adjusted time for transmitting the control signal to the at least one functional device to the expert library.
- the operating condition information includes a pumping speed and a system pressure.
- the position of the piston is the position of the cylinder piston or the position of the master cylinder piston.
- the present invention also provides a concrete pump including a pumping mechanism and a control device thereof, and the control device of the pumping mechanism employs any of the above-described control devices.
- the present invention also provides a control method for improving the pumping performance of a viscous pumping mechanism, comprising the steps of:
- Real-time detection of the corresponding operational performance after the at least one corresponding function is achieved; and adjusting the time from receipt of the piston position signal to transmission of the control signal to the at least one functional device based on the detection result.
- the at least one functional device comprises at least one of a main oil pump displacement adjusting device, a main wide group and a secondary wide group; respectively, the operating performance is at least one of the following three types: pressure of the hydraulic system Whether the impact, the master cylinder piston hits the cylinder or is in place, and the reversal of the cylinder piston is consistent with the wide distribution of the concrete.
- the step of obtaining a time to transmit a control signal to the functional device from the expert library is further included.
- the step of detecting the current operating condition information and finding the closest time to transmit the control signal from the expert library is further included.
- the step of updating the current operating condition information and the adjusted time from receiving the piston position signal to transmitting the control signal to the at least one functional device to the expert library is further included.
- the position of the piston is the position of the cylinder piston or the position of the master cylinder piston.
- the operating condition information includes a pumping speed and a system pressure.
- control device and method of the present invention adaptively adjusts the time for transmitting a control signal to a functional component by using feedback information, and can automatically adjust the pumping mechanism to an optimal state under any working condition, so that it can be in any working condition. Under the pumping performance is optimal.
- Fig. 1 is a schematic view showing the structure of a concrete pump pumping mechanism in the related art.
- FIG. 2 is a schematic view showing the working process of a concrete pump pumping unit in the related art.
- FIG. 3 is a schematic block diagram of a control device in some embodiments of the present invention.
- FIG. 4 is a control flow diagram of a control method in some embodiments of the present invention. detailed description
- Figure 3 illustrates a control device in some embodiments of the invention. Since the configuration of the concrete pump pumping unit is numerous, it is explained here in conjunction with the configuration shown in Fig. 2.
- the control device includes: a control unit 12, and three functional devices connected thereto, three detection units, and an expert library 21.
- the three functional devices are respectively a displacement adjustment device of the main oil pump 2, a main wide group 3 and a sub-wide group 15 in some embodiments, wherein the main wide group 3 is used to change the direction of the pressure oil in the main cylinders 4 and 5,
- the sub-wide group 15 is for changing the direction of the pressure oil in the sub-cylinders 16 and 17, and the pressure of the pressure oil can be reduced by reducing the displacement of the main oil pump 2.
- the first detecting unit 18 is for detecting a pressure shock of the hydraulic system
- the second detecting unit 19 is for detecting the main oil cylinder 4 Whether the 5 piston hits the cylinder or is in position
- the third detecting unit 20 is configured to detect whether the commutation of the pistons 6 and 7 is consistent with the movement of the concrete distribution width 9.
- the control unit 12 controls the main oil pump 2, the main wide group 3 and the sub-wide group 15 according to the positions of the main cylinders 4 and 5 to complete the corresponding functions, and adjusts the signals to the main oil pump 2 according to the signals fed back by the three detecting units 18-20.
- control device may also include only one or two of the three functions of the displacement adjustment device of the main oil pump 2, the main wide group 3 and the sub-wide group 15, and correspondingly, Only one or two of the three detection units 18-20 are included, which also achieves the purpose of improving the corresponding performance.
- control unit 12 can also control the main oil pump 2, the main wide group 3, and the sub-wide group 15 to perform the corresponding functions based on the positions of the cylinders 6 and 7.
- two proximity switches 10 and 11 can be used to detect the positions of the master cylinders 4 and 5, respectively.
- the proximity switch 10 or 11 The signal is sent to the control unit 12, and the control unit 12 sends a signal il to the main oil pump 2 and a delay time t2 to send a signal i2 to the main wide group 3, and a delay time t3 sends a signal i3 to the sub-group 15 to delay the main oil pump respectively. 2
- the displacement of the pressure oil is reduced; after the main wide group 3 responds to the signal i2, the pressure oil supplied from the main oil pump 2 passes through the main wide group 3 to reverse the main cylinders 4 and 5 pistons. Then, the pistons of the cylinders 6 and 7 are reversed; after the sub-group 15 responds to the signal i3, the pressure oil supplied by the auxiliary oil pump 13 reverses the pistons of the sub-cylinders 16 and 17 through the sub-group 15 to drive the concrete distribution width 9 Swing, switch to the corresponding cylinder 6 or 7.
- the above control function can also be realized only by providing one proximity switch at each of the main cylinders near the stroke of the piston; only one in the middle of one main cylinder is provided.
- Proximity switch can also achieve the above control System function.
- other position sensors can be used to detect the position of the piston.
- the control device detects the positions of the two main cylinders 4 and 5 by real time, when the main cylinders 4 and 5 are close to each other. At the end of the stroke, the displacement of the main oil pump 2 is lowered to achieve the purpose of reducing the pressure shock.
- the master cylinders 4 and 5 commutation times determine the strokes of the master cylinders 4 and 5, and the commutation time of the master cylinders 4 and 5 can be adjusted by adjusting the timing of the control unit 12 signaling i2 to the main manifold 3, avoiding the master cylinders 4 and The 5 piston crash cylinder is not in position, so that the movement strokes of the main cylinders 4 and 5 are optimized.
- the control unit 12 to signal i3 to the sub-wide group 15 the time can be adjusted to adjust the concrete distribution width 9 to start the swing time, so that the concrete distribution width 9 swing time matches the cylinder 6 and 7 piston commutation time.
- the signals il, i2 and i3 have no fixed logic sequence. In other words, the signals il, i2 and i3 have no fixed sequence, and the transmission intervals are not necessarily equal. Instead, the corresponding delay times t1, t2, t3 are initially given, and then according to the actual working conditions. Adapt to the optimal logical sequence.
- the first detecting unit 18 detects the pressure shock of the hydraulic system in real time, and corrects the value of t1 when the pressure shock is large (beyond the set value) to adjust the time at which the main oil pump 2 starts to reduce the displacement;
- the unit 19 detects in real time whether the main cylinders 4 and 5 pistons collide or are not in position, and corrects the value of t2 when the main cylinders 4 and 5 pistons collide with the cylinder or are not in position;
- the third detecting unit 20 detects the commutation of the pistons 6 and 7 in real time. It is consistent with the movement of the distribution width 9.
- the first detecting unit 18 can be implemented by a pressure sensor installed on the main oil pump 2; the second detecting unit 19 can detect whether the cylinder is struck by a pressure sensor, and can adopt a position sensor (such as a proximity switch, but is not limited thereto). Whether the piston is in place; the third detecting unit 20 can respectively detect the position of the pistons 6 and 7 and the position of the concrete distribution width 9 by the position sensor, thereby judging whether their movements are consistent, or judging whether they are back pumping or not.
- the expert library 21 stores empirical values of t1, t2, and t3 under various operating conditions (the values of t1, 12, and t3 are used to determine the transmission times of the control signals il, i2, and i3, respectively). Specifically, through experiments or simulations, under various simulation conditions (including pumping speed, pumping pressure, etc.), the values of tl, t2 and t3 can be reasonably adjusted to optimize the pumping performance, and the simulation conditions and The values of the corresponding tl, 12 and t3 in this case are stored in the expert library 21.
- control device further includes a condition acquisition unit for detecting condition information.
- control unit 12 includes a condition matching module and an update module, and the working condition matching module is configured to find the best matching tl, t2, and t3 from the expert library 21 according to the working condition information detected by the working condition collecting unit.
- Experience value Due to the complexity of the actual working conditions and the limited test or simulation data, the information stored in the expert library 21 cannot cover all working conditions. The empirical value cannot guarantee the optimal pumping performance, so the empirical value stored by the expert library 21 is only Used to provide initial values to tl, 12, and t3 during actual pumping operations.
- the update module is configured to store the current operating condition information and the adjusted time of transmitting the control signal adapted to the current operating condition into the expert library.
- the expert library may not be set, and the operator may set initial values for tl, t2, and t3 through the human machine interface according to the real-time working condition information.
- control unit 12 can be a PLC or a microprocessor. Any of the above control devices can be applied to various existing concrete pumps for the purpose of improving pumping performance.
- Figure 4 shows a flow chart of a control method in some embodiments.
- the control unit 12 performs expert library optimization according to the detected load pressure and pumping speed, and initially determines the time for transmitting the signals il, i2, and i3, if the control unit 12 When it is detected that the hydraulic system has a pressure shock, the time for transmitting the signal il is automatically adjusted (ie, the value of the correction t1), and if the control unit 12 detects that the main cylinder piston is hitting the cylinder or is not in position, the time for transmitting the signal i2 is automatically adjusted (ie, the correction of t2 is performed).
- the control unit 12 detects that the cylinder piston commutation does not match the concrete distribution width 9 motion, the time for transmitting the signal i3 is automatically adjusted (ie, the value of the correction t3) until the pumping performance is optimal. After the optimization is reached, the expert database is updated, and the working condition information and the working condition are stored. The time at which signals il, i2, and i3 are sent. When the operating conditions change, the control unit 12 repeats the above work.
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Abstract
一种粘稠体泵送机构的控制装置、控制方法及混凝土泵,控制装置包括:至少一个功能器件,用于实现至少一个相应的功能;至少一个检测单元,用于检测所述至少一个功能部件实现至少一个相应的功能后相应的运行性能;以及一个控制单元(12),分别连接至少一个功能器件和至少一个检测单元。控制方法包括以下步骤:根据泵送机构中活塞的位置控制至少一个功能器件,以实现至少一个相应的功能;实时检测实现至少一个相应的功能后相应的运行性能;以及根据检测结果,调节从收到活塞位置信号(i1,i2,i3)到向至少一个功能器件发送控制信号的时间。混凝土泵包括上述控制装置。该控制装置和方法可使得在任意工况下泵送性能达到最优。
Description
粘稠体泵送机构的控制装置、 控制方法及混凝土泵 技术领域
本发明涉及粘稠体泵送机构, 特别涉及一种用于粘稠体泵送机构的控 制装置、 控制方法以及采用这种控制装置的混凝土泵。 背景技术
如图 1和 2所示, 相关技术中的混凝土泵泵送机构由泵送单元 1, 一对 砼缸 6和 7, 料斗 8和 S阔 (即: 混凝土分配阔) 9组成; 泵送单元 1由主 油泵 2和副油泵 13, 主阔组 3和副阔组 15, 一对主油缸 4和 5, 一对副油 缸 16和 17, 接近开关 10和 11, 控制单元 12和蓄能器 14组成, 其中主油 泵 2上安装有压力传感器, 压力传感器检测主油泵 2压力。
混凝土泵的工作过程如下: 砼缸 6和 7从料斗 8中吸取混凝土, 然后 通过输送管 (图中未示出)将其浇筑到工作位置。砼缸 6和 7的活塞在主油缸 4和 5的控制下交替往复运动; S阔 9将砼缸 6和 7中的一个与输送管连接, 另外一个直接与料斗 8相连并从中吸取混凝土; 副油缸 16和 17通过传动 轴带动 S阔 9左右摆动。 通过 S阔 9与砼缸 6和 7的协调动作, 实现混凝 土在输送管道中近似连续流动。
混凝土在输送管中流动有两种方向, 一种流动方向是从砼缸 6或 7流 向输送管道末端 (正泵); 另一种流动方向是从输送管流向砼缸 6或 7(反泵), 两种混凝土流动方向取决于砼缸 6和 7运动时 S阔 9的位置。
上述混凝土泵泵送单元工作过程如下:
主油泵 2提供压力油通过主阔组 3驱动一对主油缸 4和 5, 副油泵 13 提供压力油通过副阔组 15驱动一对副油缸 16和 17。 若主油泵 2的压力油 进入主油缸 4的有杆腔 4B或主油缸 5的有杆腔 5B, 则主油缸 4的无杆腔
4A与主油缸 5的无杆腔 5A通过管路联通, 若主油泵 2的压力油进入主油 缸 4的无杆腔 4A与主油缸 5的无杆腔 5A,则主油缸 4的有杆腔 4B与主油 缸 5的有杆腔 5B通过管路联通。在一个工作循环中, 压力油从主油缸 5的 有杆腔 5B进入,从主油缸 4的有杆腔 4B排出,此时主油缸 5活塞杆缩回, 主油缸 4活塞杆伸出; 压力油从副油缸 17的无杆腔 17A进入, 从副油缸 16的无杆腔 16A排出,此时副油缸 16活塞杆缩回,副油缸 17活塞杆伸出, S阔 9摆动。
当主油缸 4活塞通过接近开关 10, 接近开关 10发信号给控制单元 12, 控制单元 12以固定逻辑顺序发信号给主阔组 3和副阔组 15(先隔 tlO秒发信 号给主阔组 3, 再隔 t20秒后发信号给副阔组 15, tlO和 tlO为固定时间。 这就是所谓的相关技术的固定逻辑顺序)。当主阔组 3响应控制单元 12发出 的信号, 压力油从主油缸 4的有杆腔 4B进入, 从主油缸 5的有杆腔 5B排 出, 主油缸 4和 5开始换向, 主油缸 5活塞杆开始伸出, 主油缸 4活塞杆 开始缩回, 带动砼缸 6和 7活塞换向; 当副阔组 15响应控制单元 12发出 的信号,压力油从副油缸 16的无杆腔 16A进入,从副油缸 17的无杆腔 17A 排出, 副油缸 16和 17开始换向, 副油缸 16活塞杆伸出, 副油缸 17活塞 杆缩回, 带动 S阔 9摆动。
在相关技术中, 主油泵 2在换向过程中不人为变量, 主油缸 4和 5上 接近开关 10和 11位置固定, 主油缸 4活塞运动至接近开关 10、 或主油缸 5活塞运动至接近开关 11时, 接近开关 10或 11发信号给控制单元 12, 届 时控制单元 12接收到接近开关发送来的信号后, 隔 tlO秒发信号给主阔组 3, 再隔 t20秒后发信号给副阔组 15, tlO和 t20为固定时间。 总之, 在相关 技术领域内, 控制单元都是以固定的逻辑顺序来对发送的信号之间的时间 进行控制, 且发送的时间都是固定不变的。
相关技术所采用的控制***存在以下问题: 1.主阔组 3中换向阔从一个 工作位到另一个工作位时要通过过渡位, 一般情况下换向阔从工作位到过
渡位通流面积减小, 主油泵 2 流量与通流能力不匹配, 产生压力冲击。 2. 主油缸 4和 5的活塞换向时, 活塞速度方向发生突变, 因为流量存在惯性, 所以当活塞换向时, 液压***会产生压力冲击。 3.信号口位置固定, 且接近 开关 10和 11发信号给控制单元 12与控制单元 12发信号给主阔组 3的逻 辑固定, 而泵送速度和负载压力等工况不确定, 若活塞运动到主油缸末端 之前, 主阔组 3响应控制单元 12发出的信号控制主油缸换向, 则工作行程 缩短, 活塞运动不到位; 若主活塞运动到主油缸末端时, 控制单元 12还没 有发信号给主阔组 3导致主油缸没有换向, 则会出现"撞缸"现象。 4.控制 单元 12发信号给主阔组 3与控制单元 12发信号给副阔组 15逻辑固定, 而 泵送速度和负载压力等工况不确定,若主油缸 4和 5运动与副油缸 16和 17 运动不匹配, 则砼缸内混凝土泵入料斗, 输送管内混凝土被吸入砼缸, 料 斗内混凝土飞溅, 易损件磨损加速。 这些问题均会降低泵送性能, 缩短设 备使用寿命。 发明内容
本发明旨在提供一种控制装置, 以提高混凝土泵的泵送性能。
本发明控制装置, 用于混凝土泵送机构, 它包括:
至少一个功能器件, 用于实现至少一个相应的功能;
至少一个检测单元, 用于检测所述至少一个功能部件实现所述至少一 个相应的功能后相应的运行性能; 以及
一个控制单元, 分别连接所述至少一个功能器件和所述至少一个检测 单元, 根据泵送机构中活塞的位置控制所述至少一个功能器件实现所述至 少一个相应的功能, 以及根据所述检测单元反馈的信号调节向所述至少一 个功能器件发送控制信号的时间, 使相应的运行性能达到最佳。
优选地, 所述至少一个功能器件包括主油泵排量调节装置、 主阔组和 副阔组中的至少一个; 相应地, 所述运行性能为以下三种中的至少一种:
液压***的压力冲击、 主油缸活塞是否撞缸或运行到位、 以及砼缸活塞的 换向与混凝土分配阔的运动是否一致。
优选地, 所述控制装置还包括专家库, 用于存储多种工况下所述控制 单元向所述功能器件发送控制信号的时间。
优选地, 所述控制装置还包括用于检测当前工况信息的工况采集单元; 所述控制单元包括工况匹配模块, 用于根据检测到的工况信息, 从专家库 中找出最接近的发送控制信号的时间。
优选地, 所述控制单元包括更新模块, 用于将当前工况信息以及调节 后的向所述至少一个功能器件发送控制信号的时间更新到所述专家库中。
优选地, 所述工况信息包括泵送速度和***压力。
优选地, 所述活塞的位置为砼缸活塞的位置或主油缸活塞的位置。 本发明还提供了一种混凝土泵, 包括泵送机构及其控制装置, 该泵送 机构的控制装置采用上述任一种控制装置。
本发明还提供了一种控制方法, 用于提高粘稠体泵送机构的泵送性能, 包括以下步骤:
根据泵送机构中活塞的位置控制至少一个功能器件, 以实现至少一个 相应的功能;
实时检测实现所述至少一个相应的功能后相应的运行性能; 以及 根据检测结果, 调节从收到活塞位置信号到向所述至少一个功能器件 发送控制信号的时间。
优选地, 所述至少一个功能器件包括主油泵排量调节装置、 主阔组和 副阔组中的至少一个; 相应地, 所述运行性能为以下三种中的至少一种: 液压***的压力冲击、 主油缸活塞是否撞缸或运行到位、 以及砼缸活塞的 换向与混凝土分配阔的运动是否一致。
优选地, 还包括从专家库中获取向所述功能器件发送控制信号的时间 的步骤。
优选地, 还包括检测当前工况信息并从专家库中找出最接近的发送控 制信号的时间的步骤。
优选地, 还包括将当前工况信息及调节后的从收到活塞位置信号到向 所述至少一个功能器件发送控制信号的时间更新到专家库的步骤。
优选地, 所述活塞的位置为砼缸活塞的位置或主油缸活塞的位置。 优选地, 所述工况信息包括泵送速度和***压力。
与相关技术相比, 本发明控制装置和方法利用反馈信息自适应地调整 向功能部件发送控制信号的时间, 能够在任意工况下自动将泵送机构调节 至最佳状态, 使得在任意工况下, 泵送性能达到最优。 附图说明
图 1为相关技术中的混凝土泵泵送机构的结构示意图。
图 2为相关技术中的混凝土泵泵送单元的工作过程示意图。
图 3为本发明一些实施例中的控制装置的原理框图。
图 4为本发明一些实施例中的控制方法的控制流程图。 具体实施方式
以下结合具体实施例和说明书附图对本发明做进一步详细说明。
图 3示出了本发明一些实施例中的控制装置。 由于混凝土泵泵送单元 的配置很多, 这里结合图 2所示配置进行阐述。
如图 3所示, 本控制装置包括: 控制单元 12, 以及与其连接的三个功 能器件、 三个检测单元和专家库 21。 三个功能器件在一些实施例中分别为 主油泵 2的排量调节装置、 主阔组 3和副阔组 15, 其中, 主阔组 3用于改 变主油缸 4和 5中压力油的方向, 副阔组 15用于改变副油缸 16和 17中压 力油的方向, 通过降低主油泵 2 的排量能够减小压力油的压力。 第一检测 单元 18用于检测液压***的压力冲击,第二检测单元 19用于检测主油缸 4
和 5活塞是否撞缸或运行到位, 第三检测单元 20用于检测砼缸 6和 7活塞 的换向与混凝土分配阔 9的运动是否一致。 控制单元 12根据主油缸 4和 5 活塞的位置控制主油泵 2、 主阔组 3和副阔组 15完成相应的功能, 以及根 据三个检测单元 18-20反馈的信号分别调节向主油泵 2、主阔组 3和副阔组 15发送控制信号的时间, 以分别达到减小液压***压力冲击、 避免主油缸 4和 5活塞撞缸或不到位、以及避免砼缸 6和 7内混凝土被泵入料斗 8的目 的。
可以理解地, 一些实施例中, 控制装置也可以只包括主油泵 2 的排量 调节装置、 主阔组 3和副阔组 15三个功能器件中的任意一个或两个, 相应 地,也可以只包括三个检测单元 18-20中的任意一个或两个,这样也可以达 到改善相应性能的目的。 也可以理解地, 一些实施例中, 控制单元 12也可 以根据砼缸 6和 7活塞的位置控制主油泵 2、 主阔组 3和副阔组 15完成相 应的功能。
一些实施例中,可以采用两个接近开关 10和 11分别检测主油缸 4和 5 活塞的位置, 当主油缸 4活塞通过接近开关 10或主油缸 5活塞通过接近开 关 11时, 接近开关 10或 11发信号给控制单元 12, 控制单元 12分别延时 tl向主油泵 2发送信号 il、 延时 t2向主阔组 3发送信号 i2、 延时 t3向副阔 组 15发送信号 i3, 以分别控制主油泵 2降低排量、 砼缸 6和 7活塞换向、 混凝土分配阔 9向相应的砼缸 6或 7切换。 更具体地说, 主油泵 2响应信 号 il后, 降低压力油的排量; 主阔组 3响应信号 i2后, 主油泵 2提供的压 力油通过主阔组 3使主油缸 4和 5活塞换向, 进而带动砼缸 6和 7的活塞 换向; 副阔组 15响应信号 i3后, 副油泵 13提供的压力油通过副阔组 15 使副油缸 16和 17活塞换向, 进而带动混凝土分配阔 9摆动, 向相应的砼 缸 6或 7切换。 可以理解地, 由于两个主油缸 4和 5的规格相同, 因此只 在一个主油缸靠近活塞行程两端处各设置一个接近开关, 也可以实现上述 控制功能; 只在一个主油缸的中部设置一个接近开关, 也可以实现上述控
制功能。 此外, 也可以用其它的位置传感器检测活塞的位置。
混凝土泵工作中, 当主油缸 4和 5换向时, 液压***有较大的压力冲 击, 一些实施例中, 控制装置通过实时检测两个主油缸 4和 5活塞位置, 当主油缸 4和 5活塞接近其行程终点时, 调低主油泵 2的排量, 达到了减 小压力冲击的目的。 主油缸 4和 5换向时间决定主油缸 4和 5活塞运动行 程, 通过调节控制单元 12发信号 i2给主阔组 3的时间可调节主油缸 4和 5 的换向时间, 避免主油缸 4和 5活塞撞缸或不到位, 使主油缸 4和 5的运 动行程达到最优。 通过调节控制单元 12发信号 i3给副阔组 15的时间可以 调节混凝土分配阔 9开始摆动的时间,使混凝土分配阔 9摆动时间与砼缸 6 和 7活塞换向时间相匹配。
为了能够在任意工况下均达到最佳泵送性能, 信号 il、 i2和 i3没有固 定逻辑顺序。 换句话说, 信号 il、 i2和 i3没有固定的先后顺序, 发送间隔 也不一定是相等的, 而是首先给对应的延时时间 tl、 t2、 t3—个初始值, 然 后根据实际工况自适应调节至最佳逻辑顺序。 更具体地说, 第一检测单元 18实时检测液压***的压力冲击, 当压力冲击较大 (超过设定值) 时修正 tl的值, 以调整主油泵 2开始降低排量的时间; 第二检测单元 19实时检测 主油缸 4和 5活塞是否撞缸或不到位, 当主油缸 4和 5活塞撞缸或不到位 时修正 t2的值;第三检测单元 20实时检测砼缸 6和 7活塞的换向与分配阔 9的运动是否一致, 当不一致时修正 t3的值, 通过不断修正 tl、 t2和 t3的 值, 使混凝土泵达到最佳泵送性能。 可以理解地, 第一检测单元 18可以采 用安装在主油泵 2的压力传感器实现; 第二检测单元 19可以采用压力传感 器检测是否撞缸, 可以采用位置传感器 (如接近开关, 但不限于此) 检测 活塞是否到位; 第三检测单元 20可以分别用位置传感器检测砼缸 6和 7活 塞的位置和混凝土分配阔 9 的位置, 进而判断它们的运动是否一致, 也可 以通过检测是否有反泵现象判断它们的运动是否一致; 等等, 并不限于列 举的这些方法。
一些实施例中, 专家库 21存储各种工况下 tl、 t2和 t3的经验值 (tl、 12和 t3的值分别用于确定控制信号 il、 i2和 i3的发送时间)。 具体可以通 过试验或仿真, 在各种模拟工况 (包括泵送速度、 泵送压力等) 下, 合理 调节 tl、 t2和 t3的值, 使泵送性能达到最优, 将各模拟工况和该工况下对 应的 tl、 12和 t3的值存储到专家库 21中。
一些实施例中, 控制装置还包括用于检测工况信息的工况采集单元。 一些实施例中, 控制单元 12包括工况匹配模块及更新模块, 工况匹配 模块用于根据工况采集单元检测到的工况信息, 从专家库 21中找出最匹配 的 tl、 t2和 t3的经验值。 由于实际工况的复杂性、 以及试验或仿真数据的 有限性, 专家库 21中存储的信息无法覆盖所有工况, 该经验值无法保证泵 送性能最优, 所以专家库 21存储的经验值只是用于在实际泵送作业时, 向 tl、 12和 t3提供初始值。 更新模块用于将当前工况信息及调节后的适应于 当前工况的发送控制信号的时间存储到专家库中。
一些实施例中, 也可以不设置专家库, 可以由操作者根据实时的工况 信息通过人机界面给 tl、 t2和 t3设定初始值。
一些实施例中, 控制单元 12可以采用 PLC, 也可以采用微处理器。 上述任何一种控制装置能够应用于现有的各种混凝土泵, 达到提高泵 送性能的目的。
图 4示出了一些实施例中的控制方法的流程图。 如图 4所示, 混凝 土泵开始工作时, 控制单元 12根据检测到的负载压力和泵送速度等工况进 行专家库寻优, 初步确定发送信号 il、 i2和 i3的时间, 若控制单元 12检测 到液压***有压力冲击则自动调整发送信号 il的时间 (即修正 tl的值), 若控制单元 12检测到主油缸活塞撞缸或不到位则自动调整发送信号 i2的时 间 (即修正 t2的值), 若控制单元 12检测到砼缸活塞换向与混凝土分配阔 9运动不匹配则自动调整发送信号 i3的时间(即修正 t3的值), 直到泵送性 能达到最优。 达到最优后对专家库进行更新, 存储该工况信息和该工况下
发送信号 il、 i2和 i3的时间。 当工况发生变化时, 控制单元 12重复以上工 作。
可以理解地, 本发明并不局限于混凝土泵, 其他粘稠体泵送机构也适 用。
以上所述仅是本发明的优选实施方式, 本发明的保护范围并不仅局限 于上述实施例, 凡属于本发明思路下的技术方案均属于本发明的保护范围。 应当指出, 对于本技术领域的普通技术人员来说, 在不脱离本发明原理前 提下的若干改进和润饰, 这些改进和润饰也应视为本发明的保护范围。
Claims
1. 一种控制装置, 用于粘稠体泵送机构, 其特征在于, 包括: 至少一个功能器件, 用于实现至少一个相应的功能;
至少一个检测单元, 用于检测所述至少一个功能部件实现所述至少一 个相应的功能后相应的运行性能; 以及
一个控制单元, 分别连接所述至少一个功能器件和所述至少一个检测 单元, 根据泵送机构中活塞的位置控制所述至少一个功能器件实现所述至 少一个相应的功能, 以及根据所述检测单元反馈的信号调节向所述至少一 个功能器件发送控制信号的时间, 使相应的运行性能达到最佳。
2. 根据权利要求 1所述的控制装置, 其特征在于: 所述至少一个功能 器件包括主油泵排量调节装置、 主阔组和副阔组中的至少一个; 相应地, 所述运行性能为以下三种中的至少一种: 液压***的压力冲击、 主油缸活 塞是否撞缸或运行到位、 以及砼缸活塞的换向与混凝土分配阔的运动是否 一致。
3. 根据权利要求 1所述的控制装置, 其特征在于: 所述控制装置还包 括专家库, 用于存储多种工况下所述控制单元向所述功能器件发送控制信 号的时间。
4. 根据权利要求 3所述的控制装置, 其特征在于: 所述控制装置还包 括用于检测当前工况信息的工况采集单元; 所述控制单元包括工况匹配模 块, 用于根据检测到的工况信息, 从专家库中找出最接近的发送控制信号 的时间。
5. 根据权利要求 4所述的控制装置, 其特征在于: 所述控制单元包括 更新模块, 用于将当前工况信息以及调节后的向所述至少一个功能器件发 送控制信号的时间更新到所述专家库中。
6. 根据权利要求 1所述的控制装置, 其特征在于: 所述活塞的位置为 砼缸活塞的位置或主油缸活塞的位置。
7. 一种混凝土泵, 包括泵送机构及其控制装置, 其特征在于: 该泵送 机构的控制装置采用权利要求 1-6任一项所述的控制装置。
8.一种控制方法,用于提高粘稠体泵送机构的泵送性能,其特征在于, 包括以下步骤:
根据泵送机构中活塞的位置控制至少一个功能器件, 以实现至少一个 相应的功能;
实时检测实现所述至少一个相应的功能后相应的运行性能; 以及 根据检测结果, 调节从收到活塞位置信号到向所述至少一个功能器件 发送控制信号的时间。
9. 根据权利要求 8所述的控制方法, 其特征在于: 所述至少一个功能 器件包括主油泵排量调节装置、 主阔组和副阔组中的至少一个; 相应地, 所述运行性能为以下三种中的至少一种: 液压***的压力冲击、 主油缸活 塞是否撞缸或运行到位、 以及砼缸活塞的换向与混凝土分配阔的运动是否 一致。
10. 根据权利要求 8所述的控制方法, 其特征在于: 还包括从专家库 中获取向所述功能器件发送控制信号的时间的步骤。
11. 根据权利要求 10所述的控制方法, 其特征在于: 还包括检测当前 工况信息并从专家库中找出最接近的发送控制信号的时间的步骤。
12. 根据权利要求 11所述的控制方法, 其特征在于: 还包括将当前工 况信息及调节后的从收到活塞位置信号到向所述至少一个功能器件发送控 制信号的时间更新到专家库的步骤。
13. 根据权利要求 8所述的控制方法, 其特征在于: 所述活塞的位置 为砼缸活塞的位置或主油缸活塞的位置。
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CN103557146B (zh) * | 2013-11-15 | 2016-02-10 | 中联重科股份有限公司 | 泵送***的柔性启动控制方法、装置及泵送设备 |
CN103557151B (zh) * | 2013-11-15 | 2015-11-25 | 中联重科股份有限公司 | 多联变量泵的排量控制方法、装置和混凝土泵送设备 |
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