Pump truck pumping control method, pump truck pumping control system, and pump truck

Abstract

The application discloses a pump truck pumping control method, a pump truck pumping control system and a pump truck. The pump truck pumping control method comprises the following steps: receiving a stop pumping instruction, acquiring the motion state of two main oil cylinders, wherein one of the two main oil cylinders is in an extending state and is communicated with a conveying pipe through a concrete cylinder, and the other is in a retracting state and is communicated with a material suction port through the concrete cylinder, determining a target main oil cylinder, controlling the target main oil cylinder to retract to the bottom, controlling the other main oil cylinder to extend, controlling the two oil cylinders to stop moving, and controlling the concrete cylinder communicated with the target main oil cylinder to be communicated with the conveying pipe. According to the pump truck pumping control method, the concrete in the conveying pipe acts on the target main oil cylinder retracted to the bottom, so that the cylinder slipping phenomenon can be avoided, and then the overflow problem caused by the cylinder slipping and the pressure holding problem during the secondary pumping can be avoided, the pumping performance of the pump truck is improved, and meanwhile, the anti-cylinder slipping valve can be avoided, and the cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to a pump truck pumping control method, a pump truck pumping control system, and a pump truck. Background Technology

[0002] Concrete is transported from the batching plant to the construction site by mixer trucks, unloaded into the pump truck's hopper, and then pumped out by the pumping system. The concrete is then transported to the pouring location via a delivery pipe on the boom. During operation, the pump truck needs to wait for the mixer truck to deliver material (i.e., waiting for material). While waiting, back pressure from the concrete in the boom's delivery pipe can cause the main pump cylinder to slip, resulting in concrete overflowing from the other cylinder into the hopper. This slippage also alters the oil volume in the main cylinder's connecting chamber, causing pressure buildup during subsequent pumping, potentially leading to pipe blockages, affecting the pump truck's normal operation, and reducing its pumping performance. To prevent slippage, existing technologies typically employ anti-slippage valves, which seal the oil in the main cylinder while the pump truck is waiting for material. However, this technology is costly, increases the failure rate, and reduces pumping efficiency. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention proposes a pumping control method for a concrete pump truck, which can improve the pumping performance of the pump truck.

[0004] Another objective of this invention is to provide a pump truck pumping control system that operates using the above-described pump truck pumping control method.

[0005] Another object of the present invention is to provide a vehicle having the above-mentioned pump truck pumping control system.

[0006] A pump truck pumping control method according to an embodiment of the present invention includes: receiving a stop pumping command; acquiring the motion state of two main hydraulic cylinders, wherein one of the two main hydraulic cylinders is in an extended state and connected to a delivery pipe through a concrete cylinder, and the other is in a retracted state and connected to a suction port through a concrete cylinder; determining a target main hydraulic cylinder; controlling the target main hydraulic cylinder to retract to the bottom, and the other main hydraulic cylinder to extend; controlling both cylinders to stop moving, and controlling the concrete cylinder connected to the target main hydraulic cylinder to connect to the delivery pipe.

[0007] According to the pump truck pumping control method of the present invention, after receiving a stop pumping command, one of the two main hydraulic cylinders is identified as the target main hydraulic cylinder. The target main hydraulic cylinder is controlled to retract to the bottom. Then, both main hydraulic cylinders are controlled to stop moving. The pumping cylinder connected to the target main hydraulic cylinder is connected to the delivery pipe, so that the concrete in the delivery pipe acts on the target main hydraulic cylinder that has retracted to the bottom. This can avoid the phenomenon of cylinder slippage, thereby avoiding the overflow problem caused by cylinder slippage and the pressure problem during re-pumping. This improves the pumping performance of the pump truck and eliminates the need to use an anti-slippage valve, reducing costs.

[0008] According to some embodiments of the present invention, determining the target master cylinder includes: determining the master cylinder currently in the retracted state as the target master cylinder.

[0009] According to some embodiments of the present invention, determining the target master cylinder includes: determining the master cylinder currently in the extended state; determining the current stroke of the master cylinder currently in the extended state; if the current stroke of the master cylinder currently in the extended state is greater than 1 / 2 of the total stroke of the master cylinder, determining the master cylinder currently in the retracted state as the target master cylinder; if the current stroke of the master cylinder currently in the extended state is less than or equal to 1 / 2 of the total stroke of the master cylinder, determining the master cylinder currently in the extended state as the target master cylinder.

[0010] In some embodiments of the present invention, when the master cylinder currently in the extended state is determined to be the target master cylinder, before controlling the target master cylinder to retract to the bottom and the other master cylinder to extend, the control method further includes:

[0011] The target main cylinder is connected to the suction port, and another main cylinder is connected to the conveying pipe.

[0012] In some embodiments of the present invention, determining the current stroke of the main cylinder currently in the extended state includes: obtaining the time taken for the last extension of the main cylinder currently in the extended state and the total stroke; determining the movement speed of the main cylinder currently in the extended state; obtaining the extended time of the main cylinder currently in the extended state; and determining the current stroke of the main cylinder currently in the extended state based on the movement speed and the extended time.

[0013] In some embodiments of the present invention, determining the current stroke of the main cylinder currently in the extended state includes: obtaining the current stroke of the main cylinder currently in the extended state through a displacement sensor.

[0014] According to some embodiments of the present invention, determining the target master cylinder includes: determining the master cylinder currently in the extended state as the target master cylinder.

[0015] According to some embodiments of the present invention, receiving a stop pumping command includes: receiving a stop pumping command issued by a remote controller.

[0016] The pump truck pumping control system according to an embodiment of the present invention operates using the above-described pump truck pumping control method.

[0017] According to the pump truck pumping control system of the present invention, after receiving a stop pumping command, one of the two main hydraulic cylinders is identified as the target main hydraulic cylinder. The target main hydraulic cylinder is controlled to retract to the bottom. Then, both main hydraulic cylinders are controlled to stop moving. The pumping cylinder connected to the target main hydraulic cylinder is also controlled to connect to the delivery pipe, so that the concrete in the delivery pipe acts on the target main hydraulic cylinder that has retracted to the bottom. This can avoid the phenomenon of cylinder slippage, thereby avoiding the overflow problem caused by cylinder slippage and the pressure problem during re-pumping. This improves the pumping performance of the pump truck and eliminates the need to use an anti-slippage valve, reducing costs.

[0018] The pump truck according to an embodiment of the present invention operates using the above-described pump truck pumping control system.

[0019] According to the pump truck of the present invention, after receiving a stop pumping command, one of the two main hydraulic cylinders is identified as the target main hydraulic cylinder. The target main hydraulic cylinder is controlled to retract to the bottom. Then, both main hydraulic cylinders are controlled to stop moving, and the pump cylinder connected to the target main hydraulic cylinder is controlled to connect to the delivery pipe. This allows the concrete in the delivery pipe to act on the target main hydraulic cylinder that has retracted to the bottom, thereby avoiding cylinder slippage. This avoids the overflow problem caused by cylinder slippage and the pressure buildup problem during subsequent pumping, improving the pumping performance of the pump truck. At the same time, it eliminates the need for an anti-slippage valve, reducing costs.

[0020] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0022] Figure 1 This is a block diagram of the pump truck pumping control system according to an embodiment of the present invention;

[0023] Figure 2 This is a flowchart of a pump truck pumping control method according to the first embodiment of the present invention;

[0024] Figure 3 This is a flowchart of a pump truck pumping control method according to a second embodiment of the present invention;

[0025] Figure 4 This is a flowchart of a pump truck pumping control method according to a third embodiment of the present invention.

[0026] Figure label:

[0027] 1. Remote control; 2. Receiver; 3. Controller; 4. Main pump reversing valve; 5. Main oil pump; 6. First main oil cylinder; 7. Second main oil cylinder; 8. First grinding cylinder; 9. Second grinding cylinder; 10. S valve; 11. Swing cylinder; 12. Swing cylinder solenoid valve; 13. Conveying pipe; 14. Suction port; 15. First displacement sensor; 16. Second displacement sensor; 17. Control program. Detailed Implementation

[0028] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0029] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0030] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] The pumping control method of the pump truck according to an embodiment of the present invention is described below with reference to the accompanying drawings.

[0032] like Figures 1-4As shown, a pump truck pumping control method according to an embodiment of the present invention includes:

[0033] Receive a stop pumping command;

[0034] The motion state of the two main hydraulic cylinders is obtained, wherein one of the two main hydraulic cylinders is in the extended state and is connected to the conveying pipe 13 through the concrete cylinder, and the other is in the retracted state and is connected to the suction port 14 through the concrete cylinder.

[0035] Specifically, the pump truck pumping control system may include a receiver 2, a controller 3, a control program 17, a main pump reversing valve 4, a main oil pump 5, a first main oil cylinder 6, a second main oil cylinder 7, a first grinding cylinder 8, a second grinding cylinder 9, a delivery pipe 13, and a suction port 14. The receiver 2 can receive the command to stop pumping wirelessly. The receiver 2 is connected to the controller 3 via a cable. The controller 3 is connected to the main pump reversing valve 4 via a cable. The control program 17 reads the parameters received by the controller 3, performs calculations and judgments, and feeds back the results to the controller 3. The main pump reversing valve 4 is connected to the main oil pump 5 via an oil circuit. By reversing the main pump reversing valve 4, the hydraulic oil inlet and outlet directions of the two oil ports of the main oil pump 5 are reversed. The two oil ports of the main oil pump 5 are connected to the first main oil cylinder 6 and the second main oil cylinder 7 via oil circuits, respectively. The first main oil cylinder 6 is connected to the first grinding cylinder 8, and the second main oil cylinder 7 is connected to the second grinding cylinder 9. When receiver 2 receives the command to stop pumping, it obtains the movement status of the two main cylinders by reading the status of the main pump reversing valve 4. One of the two main cylinders is in the extended state and is connected to the conveying pipe 13 through the cylinder, so that concrete is sent out from the conveying pipe 13. The other is in the retracted state and is connected to the suction port 14 through the cylinder, so that concrete is sucked from the suction port 14 into the cylinder.

[0036] Determine the target master cylinder; specifically, obtain the motion state of the two master cylinders by reading the state of the main pump reversing valve 4, and determine the target master cylinder based on the motion state of the two master cylinders.

[0037] The main hydraulic cylinder retracts to the bottom, while the other main hydraulic cylinder extends. Specifically, extending the main hydraulic cylinder can push out the concrete in the connected cylinder, and retracting the main hydraulic cylinder can suck the concrete into the connected cylinder.

[0038] The system controls the two main hydraulic cylinders to stop moving and connects the concrete cylinder connected to the target main hydraulic cylinder to the delivery pipe 13. Specifically, the main pump directional valve 4 controls the main pump 5 to stop supplying oil to the two main hydraulic cylinders, causing them to stop moving. The concrete cylinder connected to the target main hydraulic cylinder is then connected to the delivery pipe 13, and the other main hydraulic cylinder is connected to the suction port 14. This allows the concrete in the delivery pipe 13 to act on the target hydraulic cylinder, which has retracted to its bottom. This prevents the cylinder from slipping, avoiding overflow problems and pressure build-up during subsequent pumping, thus improving the pumping performance of the pump truck.

[0039] Specifically, after receiving the stop pumping command, the status of the main pump reversing valve 4 can be read to determine one of the two main cylinders as the target main cylinder. The target main cylinder is controlled to retract to the bottom, while the other main cylinder extends to push out the remaining concrete in the cylinder connected to it. When the target main cylinder retracts to the bottom, both main cylinders are controlled to stop moving, and the cylinder connected to the target main cylinder is controlled to connect to the conveying pipe 13, so that the concrete in the conveying pipe 13 acts on the target cylinder that has retracted to the bottom. This can avoid the phenomenon of cylinder slippage, avoid the overflow problem caused by cylinder slippage, and avoid the pressure problem during pumping again, thus improving the pumping performance of the pump truck.

[0040] According to the pump truck pumping control method of the present invention, after receiving a stop pumping command, one of the two main cylinders is identified as the target main cylinder, and the target main cylinder is controlled to retract to the bottom. Then, both main cylinders are controlled to stop moving, and the pump cylinder connected to the target main cylinder is controlled to connect to the delivery pipe 13, so that the concrete in the delivery pipe 13 acts on the target main cylinder that has retracted to the bottom. This can avoid the phenomenon of cylinder slippage, thereby avoiding the overflow problem caused by cylinder slippage and the pressure problem during re-pumping, improving the pumping performance of the pump truck, and at the same time avoiding the use of anti-slippage valve, reducing costs.

[0041] According to some embodiments of the present invention, such as Figure 2 As shown, determining the target master cylinder includes identifying the master cylinder currently in the retracted state as the target master cylinder. This allows directly using the master cylinder in the retracted state as the target master cylinder without switching the direction of the main pump directional valve 4. This simplifies control and avoids cylinder slippage. A pressure sensor can be installed in the master cylinder to determine whether it has fully retracted.

[0042] For example, in Figure 2In the illustrated embodiment, when the remote controller 1 sends a stop pumping signal, the receiver 2 receives the stop pumping command. It obtains the movement status of the first main cylinder 6 and the second main cylinder 7 by reading the status of the main pump reversing valve 4. If the first main cylinder 6 is in the extended state and connected to the conveying pipe 13 via the cylinder, it can deliver concrete from the conveying pipe 13. If the second main cylinder 7 is in the retracted state and connected to the suction port 14 via the cylinder, it can suck concrete from the suction port 14 into the cylinder. The receiver 2 determines the currently retracted second main cylinder 7 as the target main cylinder and controls it to continue retracting to the bottom while controlling the first main cylinder 6 to continue extending. When the second main cylinder 7 retracts to the bottom, the controller 3 sends a signal to the main pump reversing valve 4 to stop the movement of both the first and second main cylinders, and controls the movement of the second main cylinder... The second main hydraulic cylinder 9, connected to cylinder 7, is connected to the conveying pipe 13. The first main hydraulic cylinder 8, connected to the first main hydraulic cylinder 6, can be connected to the suction port 14. If the second main hydraulic cylinder 7 is in the extended state and connected to the conveying pipe 13 through the cylinder, concrete is sent out from the conveying pipe 13. If the first main hydraulic cylinder 6 is in the retracted state and connected to the suction port 14 through the cylinder, concrete is sucked from the suction port 14 into the cylinder. The first main hydraulic cylinder 6, currently in the retracted state, is identified as the target main hydraulic cylinder. The first main hydraulic cylinder 6 is controlled to continue retracting to the bottom, and the second main hydraulic cylinder 7 is controlled to continue extending. When the first main hydraulic cylinder 6 is retracted to the bottom, the controller 3 sends a signal to the main pump reversing valve 4 to control the first main hydraulic cylinder 6 and the second main hydraulic cylinder 7 to stop moving. The controller also controls the first main hydraulic cylinder 8, connected to the first main hydraulic cylinder 6, to be connected to the conveying pipe 13. The second main hydraulic cylinder 9, connected to the second main hydraulic cylinder 7, can be connected to the suction port 14.

[0043] According to some embodiments of the present invention, such as Figure 3 and Figure 4 As shown, determining the target master cylinder includes:

[0044] Determine the main cylinder currently in the extended state; determine the main cylinder currently in the extended state by reading the status of the main pump reversing valve 4.

[0045] Determine the current stroke of the main cylinder, which is currently in the extended state;

[0046] If the current stroke of the main cylinder currently in the extended state is greater than half of the total stroke of the main cylinder, the main cylinder currently in the retracted state is determined as the target main cylinder. If the current stroke of the cylinder currently in the extended state is less than or equal to half of the total stroke of the main cylinder, the main cylinder currently in the extended state is determined as the target main cylinder. This setting allows the main cylinder with a shorter retraction distance to retract, while the main cylinder with a longer extension distance to extend, reducing both the retraction and extension distances, thereby reducing energy loss, making the pump truck pumping control method more reasonable, and improving the pumping performance of the pump truck. Specifically, during pumping, one main cylinder is in the extended state to push out concrete, while the other main cylinder is in the retracted state to suck in concrete from the suction port 14.

[0047] Specifically, the current extended main cylinder is determined by reading the state of the main pump reversing valve 4. The current stroke of the extended main cylinder is then determined. The current stroke of the extended main cylinder is compared with the total stroke of the main cylinder. If the current stroke of the extended cylinder is greater than 1 / 2 of the total stroke of the main cylinder, the retracted main cylinder is identified as the target cylinder. The retracted main cylinder is controlled to retract to the bottom, while the extended main cylinder continues to extend. If the current stroke of the extended cylinder is less than or equal to 1 / 2 of the total stroke of the main cylinder, the extended main cylinder is identified as the target main cylinder. The main pump reversing valve 4 is controlled to reverse, causing the extended main cylinder to retract to the bottom and then extend.

[0048] According to some embodiments of the present invention, when the main cylinder currently in the extended state is determined to be the target main cylinder, before controlling the target main cylinder to retract to the bottom and the other main cylinder to extend, the control method further includes: controlling the target main cylinder to connect with the suction port 14 and controlling the other main cylinder to connect with the delivery pipe 13. Specifically, the controller 3 can send a reversing signal to the main pump reversing valve 4 to change the target main cylinder from the extended state to the retracted state, and connect the target main cylinder to the suction port 14 and the other main cylinder to the delivery pipe 13. This setting allows the target main cylinder to retract to the bottom, and when the other main cylinder extends, the other main cylinder can push the concrete out of the delivery pipe 13, avoiding the problem of the pump truck overflowing due to the other main cylinder pushing the concrete out of the suction port.

[0049] According to some embodiments of the present invention, such as Figure 3 As shown, determining the current stroke of the main hydraulic cylinder, which is currently in the extended state, includes:

[0050] Obtain the duration of the last extension of the main cylinder currently in the extended state and the total stroke; specifically, the duration of the last extension of the main cylinder currently in the extended state can be obtained by the oil supply duration of the main oil pump 5 to the main cylinder currently in the extended state.

[0051] Determine the movement speed of the main cylinder currently in the extended state; specifically, the movement speed of the main cylinder currently in the extended state can be obtained based on the time taken and total stroke of the last extension of the main cylinder currently in the extended state.

[0052] Obtain the extension time of the main cylinder that is currently in the extended state; specifically, the extension time of the main cylinder that is currently in the extended state can be obtained by the oil supply duration of the main oil pump 5 to the main cylinder that is currently in the extended state.

[0053] Based on the movement speed and the extended time, the current stroke of the main cylinder currently in the extended state is determined. Specifically, the current stroke of the main cylinder currently in the extended state is compared with half of the previous total stroke of the main cylinder currently in the extended state.

[0054] Specifically, the extension time of the main cylinder currently in the extended state can be T1, and the total stroke can be S1. The movement speed of the main cylinder currently in the extended state is V1 = S1 / T1, and the extension time of the main cylinder currently in the extended state is T2. Then, the current stroke of the main cylinder currently in the extended state is S2 = T2 × V1. Comparing S1 / 2 with S2, if the current stroke S2 ​​of the main cylinder currently in the extended state is greater than S1 / 2, the main cylinder currently in the retracted state is determined to be the target main cylinder; if the current stroke S2 ​​of the main cylinder currently in the extended state is less than or equal to S1 / 2, the main cylinder currently in the extended state is determined to be the target main cylinder. This setting can better compare the relationship between the current stroke of the main cylinder currently in the extended state and half of the total stroke of the previous main cylinder, thereby better reducing energy loss, making the pump truck pumping control method more reasonable, and further improving the pumping performance of the pump truck.

[0055] For example, in Figure 3In the illustrated embodiment, when the remote controller 1 sends a stop pumping signal, the receiver 2 receives the stop pumping command. It obtains the motion state of the first main cylinder 6 and the second main cylinder 7 by reading the state of the main pump reversing valve 4. If the first main cylinder 6 is in the extended state and connected to the conveying pipe 13 via a cylinder, and the second main cylinder 7 is in the retracted state and connected to the suction port 14 via a cylinder, it obtains the time T1 for the last extension of the first main cylinder 6 and the total stroke S1. It determines the current speed V1 of the first main cylinder 6 using S1 / T1, obtains the extended time T2 of the first main cylinder 6, and then calculates the current stroke S2 ​​of the first main cylinder 6 as T2 × V1. It compares S1 / 2 with S2. If the current stroke S2 ​​of the first main cylinder 6 is greater than S1 / 2, the second main cylinder 7 is determined as the target main cylinder; if the first main cylinder 6 is less than S1 / 2, the receiver 2 determines the second main cylinder 7 as the target main cylinder. If the current stroke S2 ​​of the first main cylinder 6 is less than or equal to S1 / 2, the first main cylinder 6 is determined to be the target main cylinder. If the second main cylinder 7 is in the extended state and connected to the conveying pipe 13 through the cylinder, and the first main cylinder 6 is in the retracted state and connected to the suction port 14 through the cylinder, the time T3 of the last extension of the second main cylinder 7 and the total stroke S3 are obtained. The movement speed V2 of the second main cylinder 7 is determined by S3 / T3. The extended time T4 of the second main cylinder 7 is obtained. Then the current stroke S4 of the second main cylinder 7 is S4 = T4 × V2. S3 / 2 is compared with S4. If the current stroke S4 of the second main cylinder 7 is greater than S3 / 2, the first main cylinder 6 is determined to be the target main cylinder. If the current stroke S4 of the second main cylinder 7 is less than or equal to S3 / 2, the second main cylinder 7 is determined to be the target main cylinder.

[0056] According to some embodiments of the present invention, such as Figure 4 As shown, determining the current stroke of the main cylinder currently in the extended state includes: obtaining the current stroke of the main cylinder currently in the extended state through a displacement sensor. Specifically, the previous total stroke of the main cylinder currently in the extended state can be S1. The current stroke S2 ​​of the main cylinder currently in the extended state is obtained through the displacement sensor. S1 / 2 is compared with S2. If the current stroke S2 ​​of the main cylinder currently in the extended state is greater than S1 / 2, the main cylinder currently in the retracted state is determined to be the target main cylinder; if the current stroke S2 ​​of the main cylinder currently in the extended state is less than or equal to S1 / 2, the main cylinder currently in the extended state is determined to be the target main cylinder. This setting allows for more accurate acquisition of the current stroke of the main cylinder currently in the extended state, thus enabling a better comparison of the current stroke of the main cylinder currently in the extended state with half of the previous total stroke of the main cylinder. This can better reduce energy loss, make the pump truck pumping control method more reasonable, and further improve the pumping performance of the pump truck.

[0057] For example, in Figure 4In the illustrated embodiment, the pumping control system includes a first displacement sensor 15 and a second displacement sensor 16. The receiver 2 receives a stop pumping command and obtains the motion states of the first main cylinder 6 and the second main cylinder 7 by reading the state of the main pump reversing valve 4. If the first main cylinder 6 is in the extended state and connected to the conveying pipe 13 via a cylinder, and the second main cylinder 7 is in the retracted state and connected to the suction port 14 via a cylinder, the system obtains the total stroke S1 of the first main cylinder 6 in the previous stroke. The system also obtains the current stroke S2 ​​of the first main cylinder 6 via the first displacement sensor 15 and compares S1 / 2 with S2. If the current stroke S2 ​​of the first main cylinder 6 is greater than S1 / 2, the second main cylinder 7 is identified as the target. Main cylinder; if the current stroke S2 ​​of the first main cylinder 6 is less than or equal to S1 / 2, the first main cylinder 6 is determined to be the target main cylinder; if the second main cylinder 7 is in the extended state and connected to the conveying pipe 13 through the cylinder, and the first main cylinder 6 is in the retracted state and connected to the suction port 14 through the cylinder, the total stroke S3 of the second main cylinder 7 in the previous stroke is obtained, and the current stroke S4 of the second main cylinder 7 is obtained through the second displacement sensor 16. S3 / 2 and S4 are compared. If the current stroke S4 of the second main cylinder 7 is greater than S3 / 2, the first main cylinder 6 is determined to be the target main cylinder; if the current stroke S4 of the second main cylinder 7 is less than or equal to S3 / 2, the second main cylinder 7 is determined to be the target main cylinder.

[0058] According to some embodiments of the present invention, determining the target main cylinder includes: identifying the main cylinder currently in the extended state as the target main cylinder. Specifically, by designating the main cylinder currently in the extended state as the target main cylinder, when the target main cylinder retracts, it can draw the concrete in the delivery pipe 13 back into the corresponding cylinder of the target main cylinder, while another main cylinder extends to push the concrete back to the suction port 14. This arrangement allows the concrete in the delivery pipe 13 to act on the target cylinder at the retracted bottom, thereby avoiding cylinder slippage, preventing overflow problems caused by cylinder slippage, and preventing pressure buildup problems during re-pumping, thus improving the pumping performance of the pump truck.

[0059] According to some embodiments of the present invention, such as Figures 1-4 As shown, receiving a stop pumping command includes receiving a stop pumping command issued by remote controller 1. This setup allows for remote control of the pump truck to execute control commands, improving the user experience. Receiver 2 can wirelessly receive signals from remote controller 1.

[0060] According to some embodiments of the present invention, such as Figures 1-4As shown, the two concrete cylinders are connected to the delivery pipe 13 and the suction port 14 respectively via S valve 10, which is driven by the swing cylinder 11. Specifically, the pump truck pumping control system may also include a swing cylinder solenoid valve 12, a swing cylinder 11, and an S valve 10. The controller 3 can be connected to the swing cylinder solenoid valve 12 via a cable, and the swing cylinder solenoid valve 12 is connected to the swing cylinder 11 via an oil circuit. By switching the swing cylinder solenoid valve 12, the swing cylinder 11 is switched, and the switching of the swing cylinder 11 drives the S valve 10 to swing, thereby allowing the outlets of the two concrete cylinders to switch between the delivery pipe 13 and the suction port 14. This arrangement makes it convenient to switch the outlets of the two concrete cylinders between the delivery pipe 13 and the suction port 14, improving the reliability of the pump truck pumping control system.

[0061] For example, in Figure 2 In the illustrated embodiment, when the second main cylinder 7 is in the extended state, the controller 3 controls the main pump reversing valve 4 and the swing cylinder solenoid valve 12 to reverse, connecting the second main cylinder 9 (connected to the second main cylinder 7) to the conveying pipe 13 and controlling the second main cylinder 7 to continue extending, connecting the first main cylinder 8 (connected to the first main cylinder 6) to the feed inlet and identifying the first main cylinder 6 as the target main cylinder, causing the first main cylinder 6 to retract back to the bottom. Figure 3 In the embodiment shown, if the current stroke S2 ​​of the first main cylinder 6, which is currently in the extended state, is less than or equal to S1 / 2, the first main cylinder 6, which is currently in the extended state, is determined to be the target main cylinder. The controller 3 controls the main pump reversing valve 4 and the swing cylinder solenoid valve 12 to reverse, so that the second cylinder 9, which is connected to the second main cylinder 7, is connected to the conveying pipe 13 and the second main cylinder 7 is controlled to continue to extend, so that the first cylinder 8, which is connected to the first main cylinder 6, is connected to the feed port and the first main cylinder 6 is determined to be the target main cylinder, so that the first main cylinder 6 retracts back to the bottom.

[0062] The pumping control method of a concrete pump truck according to three specific embodiments of the present invention is described below with reference to the accompanying drawings. It is to be understood that the following description is merely exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0063] Example 1

[0064] Remote controller 1 issues a stop pumping command, receiver 2 receives the stop pumping command from remote controller 1, obtains the movement status of the first main cylinder 6 and the second main cylinder 7 by reading the status of the main pump reversing valve 4, if the second main cylinder 7 is in the retracted state, then the second main cylinder 7 is determined as the target main cylinder, the first main cylinder 6 is controlled to continue to extend, pushing the concrete in the first pumping cylinder 8 into the delivery pipe 13, the second main cylinder 7 is controlled to retract to the bottom, controller 3 controls the first main cylinder 6 and the second main cylinder 7 to stop moving by controlling the main pump reversing valve 4, controller 3 controls the swing cylinder solenoid valve 12 to switch, the swing cylinder solenoid valve 12 causes the swing cylinder 11 to switch, the swing cylinder 11 drives the S valve 10 to swing, controls the second pumping cylinder 9 connected to the second main cylinder 7 to connect to the delivery pipe 13, so that the concrete in the delivery pipe 13 acts on the second main cylinder 7. If the second main cylinder 7 is in the extended state, the main pump reversing valve 4 and the swing cylinder solenoid valve 12 are reversed, so that the second cylinder 9 of the second main cylinder 7 is connected to the conveying pipe 13, and the first cylinder 8 of the first main cylinder 6 is connected to the feed port. The second main cylinder 7 is extended, pushing the concrete in the second cylinder 9 into the conveying pipe 13. The first main cylinder 6 is retracted to the bottom. The controller 3 controls the first main cylinder 6 and the second main cylinder 7 to stop moving by controlling the main pump reversing valve 4. The controller 3 controls the swing cylinder solenoid valve 12 to reverse, and the swing cylinder solenoid valve 12 causes the swing cylinder 11 to reverse. The swing cylinder 11 drives the S valve 10 to swing, controlling the first cylinder 8 connected to the first main cylinder 6 to connect to the conveying pipe 13, so that the concrete in the conveying pipe 13 acts on the first main cylinder 6.

[0065] Example 2

[0066] This embodiment is largely the same as Embodiment 1, with identical components using the same reference numerals. The only difference is that if the first main cylinder 6 is in the extended state and connected to the conveying pipe 13 via the cylinder, and the second main cylinder 7 is in the retracted state and connected to the suction port 14 via the cylinder, the time T1 for the last extension of the first main cylinder 6 and the total stroke S1 are obtained. The movement speed V1 of the first main cylinder 6 is determined by S1 / T1, and the extended time T2 of the first main cylinder 6 is obtained. Then, the current stroke S2 ​​of the first main cylinder 6 is S2 = T2 × V1. S1 / 2 is compared with S2. If the current stroke S2 ​​of the first main cylinder 6 is greater than S1 / 2, the second main cylinder 7 is determined as the target main cylinder; if the current stroke S2 ​​of the first main cylinder 6 is less than or equal to S1 / 2, the main pump reversing valve 4 and the swing cylinder solenoid valve 1 are controlled. 2. Reversing direction: Determine the first main cylinder 6 as the target main cylinder; if the second main cylinder 7 is in the extended state and connected to the conveying pipe 13 through the cylinder, and the first main cylinder 6 is in the retracted state and connected to the suction port 14 through the cylinder, obtain the time T3 for the last extension of the second main cylinder 7 and the total stroke S3, determine the movement speed V2 of the second main cylinder 7 by S3 / T3, obtain the extended time T4 of the second main cylinder 7, then the current stroke S4 of the second main cylinder 7 = T4 × V2, compare S3 / 2 with S4, if the current stroke S4 of the second main cylinder 7 is greater than S3 / 2, determine the first main cylinder 6 as the target main cylinder; if the current stroke S4 of the second main cylinder 7 is less than or equal to S3 / 2, control the main pump reversing valve 4 and the swing cylinder solenoid valve 12 to reverse direction, and determine the second main cylinder 7 as the target main cylinder.

[0067] Example 3

[0068] This embodiment is largely the same as Embodiment 2, with identical components using the same reference numerals. The only difference is that if the first main cylinder 6 is in the extended state and connected to the conveying pipe 13 via the cylinder, and the second main cylinder 7 is in the retracted state and connected to the suction port 14 via the cylinder, the total stroke S1 of the first main cylinder 6 in the previous stroke is obtained, and the current stroke S2 ​​of the first main cylinder 6 is obtained through the first displacement sensor 15. S1 / 2 is compared with S2. If the current stroke S2 ​​of the first main cylinder 6 is greater than S1 / 2, the second main cylinder 7 is determined as the target main cylinder; if the current stroke S2 ​​of the first main cylinder 6 is less than or equal to S1 / 2, the main pump reversing valve 4 and the swing cylinder solenoid valve 1 are controlled. 2. Reversing direction: Determine the first main cylinder 6 as the target main cylinder; if the second main cylinder 7 is in the extended state and connected to the conveying pipe 13 through the cylinder, and the first main cylinder 6 is in the retracted state and connected to the suction port 14 through the cylinder, obtain the total stroke S3 of the second main cylinder 7 in the previous stroke, obtain the current stroke S4 of the second main cylinder 7 through the second displacement sensor 16, and compare S3 / 2 with S4. If the current stroke S4 of the second main cylinder 7 is greater than S3 / 2, determine the first main cylinder 6 as the target main cylinder; if the current stroke S4 of the second main cylinder 7 is less than or equal to S3 / 2, control the main pump reversing valve 4 and the swing cylinder solenoid valve 12 to reverse direction, and determine the second main cylinder 7 as the target main cylinder.

[0069] The pump truck pumping control system according to an embodiment of the present invention is described below.

[0070] The pump truck pumping control system according to an embodiment of the present invention operates using the above-described pump truck pumping control method.

[0071] According to the pump truck pumping control system of the present invention, after receiving a stop pumping command, one of the two main cylinders is identified as the target main cylinder. The target main cylinder is controlled to retract to the bottom. Then, both main cylinders are controlled to stop moving. The pumping cylinder connected to the target main cylinder is connected to the delivery pipe 13, so that the concrete in the delivery pipe 13 acts on the target main cylinder that has retracted to the bottom. This can avoid the phenomenon of cylinder slippage, thereby avoiding the overflow problem caused by cylinder slippage and the pressure problem during pumping again. This improves the pumping performance of the pump truck and avoids the need to use an anti-slippage valve, thus reducing costs.

[0072] The following describes a pump truck according to an embodiment of the present invention.

[0073] The pump truck according to an embodiment of the present invention includes the above-described pump truck pumping control system.

[0074] According to the pump truck of the present invention, after receiving a stop pumping command, one of the two main hydraulic cylinders is identified as the target main hydraulic cylinder. The target main hydraulic cylinder is controlled to retract to the bottom. Then, both main hydraulic cylinders are controlled to stop moving, and the hydraulic cylinder connected to the target main hydraulic cylinder is controlled to connect to the delivery pipe 13. This allows the concrete in the delivery pipe 13 to act on the target main hydraulic cylinder that has retracted to the bottom, thereby avoiding the phenomenon of cylinder slippage. This avoids the problems of material overflow caused by cylinder slippage and pressure buildup during subsequent pumping, improving the pumping performance of the pump truck. At the same time, it avoids the need to use an anti-slippage valve, reducing costs.

[0075] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0076] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A pumping control method for a concrete pump truck, characterized in that, include: Receive a stop pumping command; Obtain the motion state of the two main cylinders, wherein one of the two main cylinders is in the extended state and is connected to the conveying pipe (13) through the concrete cylinder, and the other is in the retracted state and is connected to the suction port (14) through the concrete cylinder; Identify the target master cylinder; The target main hydraulic cylinder is controlled to retract to the bottom, while the other main hydraulic cylinder extends; Controlling the two hydraulic cylinders to stop moving, and controlling the concrete cylinder connected to the target main hydraulic cylinder to connect to the delivery pipe (13), wherein determining the target main hydraulic cylinder includes: Determine the main hydraulic cylinder that is currently in the extended state; Determine the current stroke of the main hydraulic cylinder, which is currently in the extended state; If the current stroke of the cylinder currently in the extended state is greater than 1 / 2 of the total stroke of the main cylinder, the main cylinder currently in the retracted state is determined to be the target main cylinder; If the current stroke of the cylinder currently in the extended state is less than or equal to 1 / 2 of the total stroke of the main cylinder, then the main cylinder currently in the extended state is determined to be the target main cylinder. Determining the current stroke of the master cylinder, which is currently in the extended state, includes: Obtain the time taken and total stroke of the last extension of the main hydraulic cylinder, which is currently in the extended state; Determine the movement speed of the main hydraulic cylinder currently in the extended state; Obtain the extension time of the main hydraulic cylinder that is currently in the extended state; Based on the movement speed and the extended time, the current stroke of the master cylinder, which is currently in the extended state, is determined.

2. The pump truck pumping control method according to claim 1, characterized in that, The target master cylinder is determined as follows: The main hydraulic cylinder currently in the retracted state is identified as the target main hydraulic cylinder.

3. The pump truck pumping control method according to claim 1, characterized in that, When the currently extended master cylinder is determined to be the target master cylinder, before controlling the target master cylinder to retract to the bottom and the other master cylinder to extend, the control method further includes: Control the target main cylinder to connect with the suction port (14), and control the other main cylinder to connect with the conveying pipe (13).

4. The pump truck pumping control method according to claim 1, characterized in that, Determining the current stroke of the master cylinder, which is currently in the extended state, includes: The current stroke of the master cylinder, which is currently in the extended state, is obtained through a displacement sensor.

5. The pump truck pumping control method according to claim 1, characterized in that, The target master cylinder is determined as follows: The main hydraulic cylinder currently in the extended state is identified as the target main hydraulic cylinder.

6. The pump truck pumping control method according to claim 1, characterized in that, The receiving of the stop pumping command includes: The remote control (1) sends a stop pumping command.

7. A pump truck pumping control system, characterized in that, The pump truck pumping control method according to any one of claims 1-6 is used for operation.

8. A pump truck, characterized in that, Includes the pump truck pumping control system according to claim 7.

Images