Control method for a pumping device, storage medium, processor and control system

Abstract

Embodiments of the present application provide a control method, a storage medium, a processor and a control system for a pumping device. The method comprises: controlling a first pumping mechanism and a second pumping mechanism to perform uniform pumping operation, and acquiring a current torque and a current rotating speed of each driving motor in the first driving motor and the second driving motor; determining a first deceleration position of a first piston and a second deceleration position of a second piston according to the current torque and the current rotating speed of each driving motor; in the case that the first piston runs to the first deceleration position, controlling the first driving motor to start deceleration from a corresponding first current rotating speed; in the case that the first current rotating speed is decelerated to a preset rotating speed, and the second piston runs to the second deceleration position, controlling the second driving motor to start deceleration from a corresponding second current rotating speed to the preset rotating speed, which can dynamically adjust the deceleration position of the piston, avoid the piston from colliding in the running process, improve the service life of the piston, and ensure the pumping efficiency.

Description

Technical Field

[0001] This application relates to the field of mechanical control, and more specifically to a control method, storage medium, processor, and control system for a pumping device. Background Technology

[0002] The pumping mechanism is a key component of material conveying equipment, typically used to switch material conveying cylinders to achieve material transport. When controlling the reversing of traditional pumping devices, the current operating condition is often determined by the operating parameters of the pumping cylinder, and the reversing position of the pumping cylinder is determined based on this condition. The pumping cylinder is then controlled to reverse when its piston reaches the reversing position. However, this method uses the pumping cylinder as the actuator. The hydraulic energy output from the pump must pass through hydraulic pipes and valves, resulting in some hydraulic energy loss, which may affect subsequent pumping efficiency. Furthermore, when the pumping cylinder reverses at the reversing position, the piston may not have reached its limit position, resulting in a shortened piston stroke and incomplete piston movement, still reducing the pumping efficiency. If the piston has already reached its limit position when the pumping cylinder reverses at the reversing position, the pumping cylinder may experience cylinder collision due to the high piston speed. Summary of the Invention

[0003] The purpose of this application is to provide a control method, storage medium, processor, and control system for a pumping device.

[0004] To achieve the above objectives, a first aspect of this application provides a control method for a pumping device. The pumping device includes a first pumping mechanism and a second pumping mechanism. The first pumping mechanism includes a first electric cylinder and a first piston. The first electric cylinder includes a first drive motor, which drives the first electric cylinder to operate, thereby causing the first electric cylinder to drive the first piston. The second pumping mechanism includes a second electric cylinder and a second piston. The second electric cylinder includes a second drive motor, which drives the second electric cylinder to operate, thereby causing the second electric cylinder to drive the second piston. The control method includes:

[0005] Control the first pumping mechanism and the second pumping mechanism to perform uniform pumping operation, and obtain the current torque and current speed of each of the first drive motor and the second drive motor;

[0006] The first deceleration position of the first piston and the second deceleration position of the second piston are determined based on the current torque and current speed of each drive motor.

[0007] When the first piston reaches the first deceleration position, the first drive motor is controlled to decelerate from the corresponding first current speed.

[0008] When the first current speed is decelerated to a preset speed and the second piston moves to the second deceleration position, the second drive motor is controlled to decelerate from the corresponding second current speed to the preset speed.

[0009] In this embodiment of the application, determining the first deceleration position of the first piston and the second deceleration position of the second piston based on the current torque and current speed of each drive motor includes: determining the material suction deceleration time required for the first drive motor to decrease from the first current speed to a preset speed based on the first current torque and the first current speed of the first drive motor; determining the material pushing deceleration time required for the second drive motor to decrease from the second current speed to the preset speed based on the second current torque and the second current speed of the second drive motor; determining the first deceleration distance and the second deceleration distance required for the first piston and the second piston to run to the preset position based on the material suction deceleration time and the material pushing deceleration time; and determining the first deceleration position and the second deceleration position based on the first deceleration distance and the second deceleration distance; wherein, the first current speed is determined based on the second current speed.

[0010] In this embodiment of the application, determining the first deceleration position and the second deceleration position based on the first deceleration distance and the second deceleration distance respectively includes: determining the first uniform speed duration for the first pumping mechanism to perform uniform speed suction operation based on the first deceleration distance and the current running distance of the first piston; determining the second uniform speed duration for the second pumping mechanism to perform uniform speed pushing operation based on the second deceleration distance and the current running distance of the second piston; and determining the first deceleration position and the second deceleration position based on the first uniform speed duration and the second uniform speed duration respectively.

[0011] In this embodiment, the pumping device further includes a material conveying pipe and a hopper. The first pumping mechanism and the second pumping mechanism are connected through the material conveying pipe. The first pumping mechanism further includes a first distribution valve, a first material conveying cylinder, and a first position sensor. The first distribution valve is connected to the first material conveying cylinder. The second pumping mechanism further includes a second distribution valve, a second material conveying cylinder, and a second position sensor. The second distribution valve is connected to the second material conveying cylinder. The method further includes: before controlling the first pumping mechanism and the second pumping mechanism to perform uniform pumping operation, controlling the first distribution valve to be in a first working position so that the hopper is connected to the first material conveying cylinder, and controlling the first drive motor to drive the first piston to run at a first initial speed; when the first position sensor detects the first piston, controlling the first drive motor to stop running and setting the first initial distance of the first piston to a preset value; controlling the second distribution valve to be in a second working position so that the material conveying pipe is connected to the second material conveying cylinder, and controlling the second drive motor to drive the second piston to run at a second initial speed; when the second position sensor detects the second piston, controlling the second drive motor to stop running and setting the second initial distance of the second piston to a preset value.

[0012] In this embodiment, controlling the first pumping mechanism and the second pumping mechanism to perform uniform pumping operation includes: setting both the first initial distance and the second initial distance to preset values, re-controlling the second distribution valve to the second working position to connect the material conveying pipe to the second material conveying cylinder, and controlling the second drive motor to start accelerating to drive the second piston to perform accelerated pushing operation; after the second piston performs uniform pushing operation, re-controlling the first distribution valve to the first working position to connect the hopper to the first material conveying cylinder, and controlling the first drive motor to start accelerating to drive the first piston to perform accelerated suction operation; when the first drive motor accelerates to the first current speed, controlling the first drive motor to drive the first piston to perform uniform suction operation at the first current speed; wherein, the first current speed is greater than the second current speed.

[0013] In this embodiment of the application, the method further includes: when the first current speed is decelerated to a preset speed, determining the current running distance of the first piston as the preset total stroke of the first piston; controlling the first distribution valve to switch the first working position to the third working position within a first preset time period, so that the material conveying pipe is connected to the first material conveying cylinder, and setting the current running distance of the first piston to a preset value.

[0014] In this embodiment of the application, the method further includes: when the first current speed decelerates to a preset speed and the second piston moves to a second deceleration position, controlling the first drive motor to accelerate from the preset speed to a third current speed within a second preset time period to drive the first piston to perform accelerated pushing operation; controlling the first drive motor to drive the first piston to perform uniform pushing operation at the third current speed; wherein, the second preset time period is determined according to the time required for the second drive motor to decelerate from the corresponding second current speed to the preset speed.

[0015] In this embodiment, the pumping device further includes a hopper, and the method further includes: when the second drive motor decelerates from the corresponding second current speed to a preset speed, determining the current running distance of the second piston as the preset total stroke of the second piston; controlling the second distribution valve to switch the second working position to the fourth working position within a third preset time period, so that the hopper is connected to the second material conveying cylinder, and setting the current running distance of the second piston to a preset value; controlling the second drive motor to accelerate from the preset speed to the fourth current speed within a fourth preset time period, so as to drive the second piston to perform accelerated material suction operation; controlling the second drive motor to drive the second piston to perform uniform speed material suction operation at the fourth current speed.

[0016] A second aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the aforementioned control method for a pumping device.

[0017] A third aspect of this application provides a processor configured to execute the control method for a pumping device described above.

[0018] A fourth aspect of this application provides a control system for a pumping device, comprising:

[0019] A pumping device includes a first pumping mechanism and a second pumping mechanism. The first pumping mechanism includes a first electric cylinder and a first piston. The first electric cylinder includes a first drive motor, which drives the first electric cylinder to operate, thereby causing the first electric cylinder to drive the first piston. The second pumping mechanism includes a second electric cylinder and a second piston. The second electric cylinder includes a second drive motor, which drives the second electric cylinder to operate, thereby causing the second electric cylinder to drive the second piston.

[0020] The processor mentioned above.

[0021] In this embodiment, the pumping device further includes a material conveying pipe and a hopper, and the first pumping mechanism and the second pumping mechanism are connected through the material conveying pipe; the first pumping mechanism further includes: a first distribution valve, a first material conveying cylinder and a first position sensor, the first distribution valve being connected to the first material conveying cylinder; the second pumping mechanism further includes: a second distribution valve, a second material conveying cylinder and a second position sensor, the second distribution valve being connected to the second material conveying cylinder.

[0022] Through the above technical solution, when the current torque and speed of the drive motor change, the corresponding deceleration position of the piston also changes accordingly. This allows the piston to decelerate at different deceleration positions. In other words, the piston's deceleration position can be dynamically adjusted according to the current torque and speed of the drive motor, ensuring that the piston begins to decelerate at the designated deceleration position and reaches its limit position when the drive motor decelerates to the preset speed. This avoids piston impact during operation, increases piston lifespan, and reduces the risk of pumping mechanism failure. Furthermore, the drive motor will always decelerate to the preset speed, and the piston will reach the corresponding limit position, ensuring that the piston can complete a sufficient stroke. This allows the material conveying cylinder to draw in or expel as much material as possible, thereby improving the pumping efficiency of the pumping device.

[0023] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0024] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0025] Figure 1A schematic flowchart of a control method for a pumping device according to an embodiment of this application is shown.

[0026] Figure 2 A schematic diagram illustrating piston operation according to an embodiment of this application is shown.

[0027] Figure 3 A schematic diagram illustrating the torque-speed relationship of an electric cylinder according to an embodiment of this application is provided.

[0028] Figure 4 This illustration schematically shows a diagram of controlled pumping and conveying of materials according to an embodiment of this application;

[0029] Figure 5 A schematic diagram of a pumping apparatus according to an embodiment of this application is shown.

[0030] Figure 6 A schematic diagram of a control system for a pumping apparatus according to an embodiment of this application is shown.

[0031] Figure 7 The diagram illustrates the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0033] Figure 1 A schematic flowchart illustrating a control method for a pumping device according to an embodiment of this application is shown. Figure 1 As shown in one embodiment of this application, a control method for a pumping device is provided. The pumping device includes a first pumping mechanism and a second pumping mechanism. The first pumping mechanism includes a first electric cylinder and a first piston. The first electric cylinder includes a first drive motor, which drives the first electric cylinder to operate, thereby causing the first electric cylinder to drive the first piston. The second pumping mechanism includes a second electric cylinder and a second piston. The second electric cylinder includes a second drive motor and a second piston, which drives the second electric cylinder to operate, thereby causing the second electric cylinder to drive the second piston. The method includes the following steps:

[0034] Step 101: Control the first pumping mechanism and the second pumping mechanism to perform uniform pumping operation, and obtain the current torque and current speed of each of the first drive motor and the second drive motor.

[0035] Step 102: Determine the first deceleration position of the first piston and the second deceleration position of the second piston based on the current torque and current speed of each drive motor.

[0036] Step 103: When the first piston reaches the first deceleration position, control the first drive motor to decelerate from the corresponding first current speed.

[0037] Step 104: When the first current speed is decelerated to the preset speed and the second piston is running to the second deceleration position, control the second drive motor to decelerate from the corresponding second current speed to the preset speed.

[0038] The pumping device includes a first pumping mechanism and a second pumping mechanism. The first pumping mechanism includes a first electric cylinder and a first piston, and the first electric cylinder includes a first drive motor. The first drive motor drives the first electric cylinder to operate, so that the first electric cylinder drives the first piston to operate. The second pumping mechanism includes a second electric cylinder and a second piston, and the second electric cylinder includes a second drive motor. The second drive motor drives the second electric cylinder to operate, so that the second electric cylinder drives the second piston to operate.

[0039] The processor can control the first and second pumping mechanisms to perform uniform pumping operations, and can acquire the current torque and current speed of each of the first and second drive motors. Then, the processor can determine the first deceleration position of the first piston based on the current torque and current speed of the first drive motor, and determine the second deceleration position of the second piston based on the current torque and current speed of the second drive motor.

[0040] When the first piston reaches the first deceleration position, the processor can control the first drive motor to decelerate from the corresponding first current speed. When the first drive motor decelerates to a preset speed, it can determine whether the second piston has reached the second deceleration position. The preset speed can be customized according to actual conditions. For example, the preset speed can be zero. If the second piston reaches the second deceleration position at this time, the processor can control the second drive motor to decelerate from the corresponding second current speed until the second current speed reaches the preset speed.

[0041] Through the above technical solution, the first pumping mechanism and the second pumping mechanism are controlled to perform uniform pumping operations, and the current torque and current speed of each of the first and second drive motors are obtained; the first deceleration position of the first piston and the second deceleration position of the second piston are determined according to the current torque and current speed of each drive motor; when the first piston runs to the first deceleration position, the first drive motor is controlled to decelerate from the corresponding first current speed; when the first current speed decelerates to a preset speed and the second piston runs to the second deceleration position, the second drive motor is controlled to decelerate from the corresponding second current speed to the preset speed. This allows for dynamic adjustment of the piston's deceleration position according to the current torque and current speed of the drive motor, so that the piston starts to decelerate at the deceleration position, avoiding piston impact during operation, improving piston service life, and further ensuring the operating efficiency of the pumping mechanism, thereby improving the pumping efficiency of the pumping device.

[0042] In one embodiment, determining the first deceleration position of the first piston and the second deceleration position of the second piston based on the current torque and current speed of each drive motor includes: determining the suction deceleration time required for the first drive motor to decrease from the first current speed to a preset speed based on the first current torque and the first current speed of the first drive motor; determining the pushing deceleration time required for the second drive motor to decrease from the second current speed to the preset speed based on the second current torque and the second current speed of the second drive motor; determining the first deceleration distance and the second deceleration distance required for the first piston and the second piston to move to the preset position based on the suction deceleration time and the pushing deceleration time, respectively; and determining the first deceleration position and the second deceleration position based on the first deceleration distance and the second deceleration distance, respectively; wherein the first current speed is determined based on the second current speed.

[0043] The processor can determine the material suction deceleration time required for the first drive motor to decrease from its first current speed to a preset speed based on the first current torque and the first current speed of the first drive motor. The processor can also determine the material pushing deceleration time required for the second drive motor to decrease from its second current speed to a preset speed based on the second current torque and the second current speed of the second drive motor. The first current speed is determined based on the second current speed. The second current speed can be customized according to actual conditions or determined in advance based on the operating characteristics of the second drive motor. Then, the processor can determine the first deceleration distance and the second deceleration distance required for the first and second pistons to reach preset positions based on the material suction deceleration time and the material pushing deceleration time, respectively. The preset position can be customized according to actual conditions. For example, the preset position can be the operating limit position of the first or second piston. Furthermore, the processor can determine the first deceleration position and the second deceleration position based on the first deceleration distance and the second deceleration distance, respectively.

[0044] In one embodiment, determining the first deceleration position and the second deceleration position based on the first deceleration distance and the second deceleration distance respectively includes: determining the first uniform speed duration for the first pumping mechanism to perform uniform speed suction operation based on the first deceleration distance and the current running distance of the first piston; determining the second uniform speed duration for the second pumping mechanism to perform uniform speed pushing operation based on the second deceleration distance and the current running distance of the second piston; and determining the first deceleration position and the second deceleration position based on the first uniform speed duration and the second uniform speed duration respectively.

[0045] During the operation of the first and second pistons, the current travel distance of the first piston and the second current travel distance can be collected by corresponding position sensors and sent to the processor. The processor can determine the first uniform speed duration for the first pumping mechanism to perform uniform speed suction based on the first deceleration distance and the current travel distance of the first piston. The processor can determine the second uniform speed duration for the second pumping mechanism to perform uniform speed pushing based on the second deceleration distance and the current travel distance of the second piston. Then, the processor can determine the first deceleration position and the second deceleration position based on the first and second uniform speed durations, respectively.

[0046] In one embodiment, the pumping device further includes a material conveying pipe and a hopper. The first pumping mechanism and the second pumping mechanism are connected through the material conveying pipe. The first pumping mechanism further includes a first distribution valve, a first material conveying cylinder, and a first position sensor. The first distribution valve is connected to the first material conveying cylinder. The second pumping mechanism further includes a second distribution valve, a second material conveying cylinder, and a second position sensor. The second distribution valve is connected to the second material conveying cylinder. The method further includes: before controlling the first pumping mechanism and the second pumping mechanism to perform uniform pumping operation, controlling the first distribution valve to be in a first working position so that the hopper is connected to the first material conveying cylinder, and controlling the first drive motor to drive the first piston to run at a first initial speed; when the first position sensor detects the first piston, controlling the first drive motor to stop running and setting the first initial distance of the first piston to a preset value; controlling the second distribution valve to be in a second working position so that the material conveying pipe is connected to the second material conveying cylinder, and controlling the second drive motor to drive the second piston to run at a second initial speed; when the second position sensor detects the second piston, controlling the second drive motor to stop running and setting the second initial distance of the second piston to a preset value.

[0047] The pumping device also includes a material conveying pipe and a hopper. The material conveying pipe can be Y-shaped. The first pumping mechanism and the second pumping mechanism are connected through the material conveying pipe. The first pumping mechanism also includes a first distribution valve, a first material conveying cylinder, and a first position sensor. The first distribution valve can be a gate valve. The first distribution valve is connected to the first material conveying cylinder and is used to adjust the connection relationship of the first material conveying cylinder according to actual conditions. For example, the first material conveying cylinder can be connected to the hopper, or it can be connected to the material conveying pipe. The first position sensor can be a proximity switch or other sensor with position detection function. The first position sensor can be installed on the water tank of the pumping device to avoid wear during piston operation.

[0048] The second pumping mechanism also includes a second distribution valve, a second material conveying cylinder, and a second position sensor. The second distribution valve can be a gate valve. It is connected to the second material conveying cylinder and is used to adjust the connection relationship of the cylinder according to actual conditions. For example, the second material conveying cylinder can be connected to a hopper or a material conveying pipe. The second position sensor can be a proximity switch or other sensor with position detection function. It can be installed on the water tank of the pumping device to avoid wear during piston operation. Furthermore, to improve the accuracy of piston travel distance measurement, the piston can be connected to the first position sensor via a wire guide wheel. In this case, the position sensor can be installed at any suitable position. Alternatively, the position sensor can be installed inside the electric cylinder to assist in achieving precise real-time position control.

[0049] To control the pumping device for continuous pumping, the first and second distribution valves can be used together to achieve continuous material pumping. In one embodiment, the first and second pumping mechanisms can use the same distribution valve to achieve discontinuous pumping. This shared distribution valve can be an S-valve or a gate valve. For example, if the first pumping mechanism completes the pushing operation, the shared distribution valve can be used for reversing. After reversing, the first pumping mechanism can perform the suction operation. However, during the reversing process, since only the same distribution valve is used, the reversing takes a certain amount of time, the piston stops running during the reversing process, and the material cannot be conveyed during the reversing process. At this time, the material pumping is discontinuous.

[0050] Considering that the piston of the pumping device may be at any position during the entire pumping stroke when it is first put into use, the running distance of the piston in each pumping mechanism can be initialized for precise control of the pumping device later. Specifically, before controlling the first and second pumping mechanisms to perform uniform pumping operations, the processor can control the first distribution valve to be in the first working position. At this time, the hopper is connected to the first material conveying cylinder, and the processor can control the first drive motor to drive the first piston to run at a first initial speed. The first initial speed can be customized according to the actual situation. During the operation of the first piston, if the first position sensor detects the first piston, that is, the first piston has run to the running limit position, the processor can control the first drive motor to stop running and set the first initial distance of the first piston to a preset value. For example, the preset value can be zero. Furthermore, before the first position sensor detects the first piston, the first piston can be controlled to decelerate at a preset deceleration position to avoid the first piston hitting the first electric cylinder when it runs to the running limit position.

[0051] The processor can control the second distribution valve to be in the second working position. At this time, the material conveying pipe is connected to the second material conveying pipe, and the processor can control the second drive motor to drive the second piston at a second initial speed. The second initial speed can be customized according to actual conditions. The second initial speed can be less than the first initial speed. During the operation of the second piston, if the second position sensor detects the second piston, that is, the second piston has reached its operating limit position, the processor can control the second drive motor to stop running and set the second initial distance of the second piston to a preset value. For example, the preset value can also be zero. Furthermore, before the second position sensor detects the second piston, the processor can control the second piston to decelerate at a preset deceleration position to avoid the second piston colliding with the second electric cylinder when it reaches its operating limit position.

[0052] For example, such as Figure 2 The diagram illustrates piston operation. In the right pump (lower pump in the diagram), the right piston performs a constant-speed pushing operation. The right piston begins to decelerate at position L2 to perform a decelerating pushing operation and stops after reaching displacement Ltj. In the left pump (upper pump in the diagram), the left piston performs a constant-speed suction operation. The right piston begins to decelerate at position L1 to perform a decelerating suction operation and stops after reaching displacement Lxj.

[0053] For example, such as Figure 3 The figure shows a schematic diagram illustrating the torque-speed relationship of an electric cylinder. The figure also shows the external characteristic curve of the drive motor's rated power. Vq refers to the piston's operating speed, Tq refers to the drive motor torque corresponding to Vq, and Te refers to the drive motor's rated torque.

[0054] In one embodiment, controlling the first pumping mechanism and the second pumping mechanism to perform a uniform pumping operation includes: setting both the first initial distance and the second initial distance to preset values, re-controlling the second distribution valve to the second working position to connect the material conveying pipe to the second material conveying cylinder, and controlling the second drive motor to start accelerating to drive the second piston to perform an accelerated pushing operation; when the second drive motor accelerates to the second current speed, controlling the second drive motor to drive the second piston to perform a uniform pushing operation at the second current speed; after the second piston performs a uniform pushing operation, re-controlling the first distribution valve to the first working position to connect the hopper to the first material conveying cylinder, and controlling the first drive motor to start accelerating to drive the first piston to perform an accelerated suction operation; when the first drive motor accelerates to the first current speed, controlling the first drive motor to drive the first piston to perform a uniform suction operation at the first current speed; wherein the first current speed is greater than the second current speed.

[0055] After initializing the travel distance of the pistons in the first and second pumping mechanisms, materials can be conveyed through these mechanisms. Specifically, with both the first and second initial distances set to preset values, the processor can reposition the second distribution valve to the second working position. At this time, the material conveying pipe is connected to the second material conveying cylinder. The processor can control the second drive motor to accelerate, thereby driving the second piston to perform accelerated material pushing. When the second drive motor accelerates to the second current speed, the processor can control the second drive motor to drive the second piston at the second current speed to perform uniform speed material pushing.

[0056] After the second piston performs a uniform-speed pushing operation, the processor can reposition the first distribution valve to the first working position. At this time, the hopper is connected to the first material conveying cylinder. The processor can control the first drive motor to accelerate, driving the first piston to perform an accelerated suction operation. When the first drive motor accelerates to a first current speed, the processor can control the first drive motor to drive the first piston to perform a uniform-speed suction operation at the first current speed. The first current speed can be customized according to actual conditions. For example, the first current speed can be the maximum pumping speed of the first drive motor. The first current speed is greater than the second current speed. That is, the current speed during suction is greater than the current speed during pushing, ensuring the stability of the first and second pumping mechanisms when pumping materials.

[0057] In one embodiment, the method further includes: when the first current rotational speed is decelerated to a preset rotational speed, determining the current running distance of the first piston as the preset total stroke of the first piston; controlling the first distribution valve to switch the first working position to the third working position within a first preset time period, so that the material conveying pipe is connected to the first material conveying cylinder, and setting the current running distance of the first piston to a preset value.

[0058] When the current rotational speed decelerates to a preset rotational speed, the processor can determine that the current travel distance of the first piston is the preset total stroke of the first piston. Then, the processor can control the first distribution valve to switch from its first operating position to its third operating position within a first preset time period, thereby connecting the material conveying pipe to the first material conveying cylinder, and setting the current travel distance of the first piston to a preset value. The first preset time period refers to the switching duration of the first distribution valve. Furthermore, when the current rotational speed decelerates to the preset rotational speed, the processor can extend the time period before controlling the first distribution valve to switch its operating position. After the first distribution valve switches to the third operating position within the first preset time period, the processor can also wait for a period of time before controlling the first drive motor to accelerate.

[0059] In one embodiment, the method further includes: when the first current speed decelerates to a preset speed and the second piston moves to a second deceleration position, controlling the first drive motor to accelerate from the preset speed to a third current speed within a second preset time period to drive the first piston to perform accelerated pushing operation; controlling the first drive motor to drive the first piston to perform uniform pushing operation at the third current speed; wherein the second preset time period is determined according to the time required for the second drive motor to decelerate from the corresponding second current speed to the preset speed.

[0060] When the first current speed decelerates to a preset speed and the second piston reaches a second deceleration position, the processor can control the first drive motor to accelerate from the preset speed to a third current speed within a second preset time period, thereby driving the first piston to perform accelerated material pushing. The second preset time period is determined based on the time required for the second drive motor to decelerate from the corresponding second current speed to the preset speed. When the first drive motor accelerates to the third current speed, the processor can control the first drive motor to drive the first piston at the third current speed to perform uniform material pushing.

[0061] In one embodiment, the pumping device further includes a hopper, and the method further includes: when the second drive motor decelerates from the corresponding second current speed to a preset speed, determining the current running distance of the second piston as the preset total stroke of the second piston; controlling the second distribution valve to switch the second working position to the fourth working position within a third preset time period, so that the hopper is connected to the second material conveying cylinder, and setting the current running distance of the second piston to a preset value; controlling the second drive motor to accelerate from the preset speed to the fourth current speed within a fourth preset time period, so as to drive the second piston to perform accelerated material suction operation; and controlling the second drive motor to drive the second piston to perform uniform speed material suction operation at the fourth current speed.

[0062] The pumping device also includes a hopper. When the second drive motor decelerates from its corresponding second current speed to a preset speed, the processor can determine the current running distance of the second piston as the preset total stroke of the second piston. The processor can control the second distribution valve to switch from its second working position to its fourth working position within a third preset time period, so that the hopper is connected to the second material conveying cylinder, and set the current running distance of the second piston to a preset value. The third preset time period refers to the reversing duration of the second distribution valve. Further, when decelerating from the first current speed to the preset speed, the processor can control the second distribution valve to switch working positions after a certain period. When the second distribution valve switches to the fourth working position, a certain period can be waited before controlling the second drive motor to begin accelerating. After the second drive motor accelerates from the preset speed to the fourth current speed within the fourth preset time period, the processor can also control the second drive motor to drive the second piston at the fourth current speed to perform a uniform speed feeding operation.

[0063] In one embodiment, such as Figure 4 The diagram shown illustrates a method for controlling the pumping and conveying of materials.

[0064] Where L1 and L2 represent the left deceleration position of the left piston and the right deceleration position of the right piston, respectively. During the operation of the left drive motor in the left master cylinder, which drives the left piston at a preset speed v2, the left piston performs a uniform feeding operation. At time tx0, the left piston reaches the left deceleration position. At this point, a deceleration signal can be sent to the left drive motor, which can decelerate according to this signal for a deceleration time of tx1-tx0. The left drive motor decelerates to 0 at tx1. Further, after waiting for time ty1-tx1, a reversing signal can be sent to the left distribution valve, which can reversing according to this signal, completing the reversal at ty2. After the reversal is completed, after waiting for time tx2-ty2, i.e., after the right piston reaches the L2 deceleration position, an acceleration signal can be sent to the left drive motor, and a deceleration signal can be sent to the right drive motor. At this point, the left drive motor can accelerate to the preset speed v1 according to the acceleration signal, and the right drive motor can decelerate to 0 according to the deceleration signal.

[0065] After the left drive motor accelerates for tx3-tx2 time or the right drive motor decelerates for tx3-tx2 time, a reversing signal can be sent to the right distribution valve after a wait of tx4-tx3 time. The right distribution valve can then reverse according to this reversing signal, completing the reversal in tx5. Next, an acceleration signal can be sent to the right drive motor, which can accelerate to the preset speed v2 in tx6 time. Then, the right drive motor can perform a uniform feeding operation at the preset speed v2 for tx7-tx6. After the right piston reaches the L1 position, i.e., the right drive motor has run for tx7 time, a deceleration signal can be sent to the right drive motor, which can decelerate to 0 in tx8 time. Further, a reversing signal can be sent to the right distribution valve after a wait of a period of time to cause the right distribution valve to reverse. Finally, an acceleration signal is sent to the right drive motor in tx9 time. The second drive motor accelerates to the preset speed v1 in time tx10 according to the acceleration signal, and pushes the material at a constant speed v1.

[0066] After the left drive motor accelerates for tx3-tx2 time or the right drive motor decelerates for tx3-tx2 time, the left drive motor can perform uniform material feeding at a preset speed v2. When the left piston reaches the L2 deceleration position, i.e., after the left drive motor has run for tx9 time, a deceleration signal can be sent to the left drive motor. The left drive motor can decelerate to 0 according to this signal, with a deceleration completion time of tx10. When the left drive motor decelerates to 0, a reversing signal can be sent to the left distribution valve after a certain period. The left distribution valve can reverse according to this reversing signal, and after the reversing is complete, an acceleration signal is sent to the left drive motor. The left drive motor can accelerate to the preset speed v2 according to this acceleration signal and then uniformly feed material at the preset speed v2.

[0067] The above technical solution allows for dynamic adjustment of the piston's deceleration position based on the current torque and speed of the drive motor. This ensures the piston begins to decelerate at the designated deceleration position, preventing impacts during operation, extending piston lifespan, and further ensuring the pumping mechanism's operational efficiency, thereby improving the overall pumping efficiency of the pumping device. Simultaneously, it enables continuous constant-flow material delivery from both pumping mechanisms, significantly improving pumping efficiency and resulting in superior pumping performance.

[0068] Figure 1 This is a flowchart illustrating a control method for a pumping device in one embodiment. It should be understood that, although... Figure 1The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0069] In one embodiment, a storage medium is provided on which a program is stored, which, when executed by a processor, implements the control method described above for a pumping device.

[0070] In one embodiment, a processor is provided for running a program, wherein the program executes the control method for the pumping device described above.

[0071] In one embodiment, a control system for a pumping device is provided, comprising:

[0072] A pumping device includes a first pumping mechanism and a second pumping mechanism. The first pumping mechanism includes a first electric cylinder and a first piston. The first electric cylinder includes a first drive motor, which drives the first electric cylinder to operate, thereby causing the first electric cylinder to drive the first piston. The second pumping mechanism includes a second electric cylinder and a second piston. The second electric cylinder includes a second drive motor, which drives the second electric cylinder to operate, thereby causing the second electric cylinder to drive the second piston.

[0073] The processor mentioned above.

[0074] The pumping device includes a first pumping mechanism and a second pumping mechanism. The first pumping mechanism includes a first electric cylinder and a first piston, the first electric cylinder including a first drive motor. The first drive motor drives the first electric cylinder to operate, thereby causing the first electric cylinder to drive the first piston. The second pumping mechanism includes a second electric cylinder and a second piston, the second electric cylinder including a second drive motor. The second drive motor drives the second electric cylinder to operate, thereby causing the second electric cylinder to drive the second piston. In one embodiment, the pumping device further includes a material conveying pipe and a hopper, the first pumping mechanism and the second pumping mechanism being connected via the material conveying pipe; the first pumping mechanism further includes a first distribution valve, a first material conveying cylinder, and a first position sensor, the first distribution valve being connected to the first material conveying cylinder; the second pumping mechanism further includes a second distribution valve, a second material conveying cylinder, and a second position sensor, the second distribution valve being connected to the second material conveying cylinder.

[0075] The pumping device also includes a material conveying pipe and a hopper. The material conveying pipe can be Y-shaped. The first pumping mechanism and the second pumping mechanism are connected through the material conveying pipe. The first pumping mechanism also includes a first distribution valve, a first material conveying cylinder, and a first position sensor. The first distribution valve can be an S-valve or a gate valve. The first distribution valve is connected to the first material conveying cylinder and is used to adjust the connection relationship of the first material conveying cylinder according to actual conditions. For example, the first material conveying cylinder can be connected to the hopper, or it can be connected to the material conveying pipe. The first position sensor can be a proximity switch or other sensor with position detection function. The first position sensor can be installed on the water tank of the pumping device to avoid wear during piston operation.

[0076] The second pumping mechanism also includes a second distribution valve, a second material conveying cylinder, and a second position sensor. The second distribution valve can be an S-valve or a gate valve. The second distribution valve is connected to the second material conveying cylinder and is used to adjust the connection relationship of the second material conveying cylinder according to actual conditions. For example, the second material conveying cylinder can be connected to a hopper or to a material conveying pipe. The second position sensor can be a proximity switch or other sensor with position detection function. The second position sensor can be installed on the water tank of the pumping device to avoid wear during piston operation. Furthermore, to improve the accuracy of collecting the piston's travel distance, the piston can be connected to the first position sensor via a wire guide wheel. In this case, the position sensor can be installed at any suitable position. Alternatively, the position sensor can be installed inside the electric cylinder to assist the electric cylinder in achieving precise real-time position control.

[0077] In one embodiment, such as Figure 5 The diagram shows a schematic of a pumping device. This device includes two pumping mechanisms. Each pumping mechanism includes an electric cylinder 1, which is connected to a water tank 3 via a sealing ring 2. The water tank 3 is equipped with proximity switches 11. Proximity switches k1 and k2 are shown in the diagram. A material conveying cylinder 4 is connected to the water tank 3, and the material conveying cylinder 4 includes a piston rod 5 and a piston 6. The material conveying cylinder 4 is connected to a distribution mechanism 7. The distribution mechanism 7 can be a distribution valve, which can be an S-valve or a gate valve. The material conveying cylinder 4 is connected to a hopper 8, which includes a suction port 9, a stirring motor 12, and a stirring mechanism 13. The two pumping mechanisms are connected by a Y-shaped material conveying pipe 10.

[0078] In one embodiment, such as Figure 6The diagram illustrates a control system for a pumping device. This control system includes a pumping mechanism, a distribution mechanism, a stirring mechanism, a pumping electric cylinder, a distribution electric cylinder, a stirring motor, a main controller, a power inverter, an energy storage system, and an external power supply. The energy storage system possesses high power and energy density, serving as the energy source for the pumping electric cylinder, distribution electric cylinder, and stirring motor, and can meet the requirements for multiple material pumping operations. The external power supply can charge the energy storage system, enabling continuous pumping over extended periods. The power inverter converts electrical energy into the energy form required by the pumping electric cylinder, distribution electric cylinder, and stirring motor. The main controller acquires and controls the operating data of the pumping electric cylinder, distribution electric cylinder, and stirring motor. The pumping electric cylinder provides power output to the pumping mechanism. The distribution electric cylinder provides power output to the distribution mechanism and can perform the switching action of the distribution valve according to the switching signal issued by the main controller, thereby achieving continuous pumping of material suction and pushing. The electric cylinders can employ constant power control, that is, maximizing the utilization of rated power and maintaining a constant power after the pumping speed reaches a preset speed. For example, the motor's output torque can be adjusted by regulating the current, or the motor can be maintained at the target speed through PID control of the current. The stirring mechanism uses a stirring motor as the actuating element to perform stirring actions.

[0079] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 7 As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown), and a database (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A04. The database stores data such as deceleration position. The network interface A02 communicates with external terminals via a network connection. When the processor A01 executes the computer program B02, it implements a control method for a pumping device.

[0080] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0081] This application provides an apparatus including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: controlling a first pumping mechanism and a second pumping mechanism to perform uniform pumping operations, and acquiring the current torque and current speed of each of the first and second drive motors; determining a first deceleration position of the first piston and a second deceleration position of the second piston based on the current torque and current speed of each drive motor; when the first piston reaches the first deceleration position, controlling the first drive motor to decelerate from the corresponding first current speed; when the first current speed decelerates to a preset speed and the second piston reaches the second deceleration position, controlling the second drive motor to decelerate from the corresponding second current speed to the preset speed.

[0082] In one embodiment, determining the first deceleration position of the first piston and the second deceleration position of the second piston based on the current torque and current speed of each drive motor includes: determining the suction deceleration time required for the first drive motor to decrease from the first current speed to a preset speed based on the first current torque and the first current speed of the first drive motor; determining the pushing deceleration time required for the second drive motor to decrease from the second current speed to the preset speed based on the second current torque and the second current speed of the second drive motor; determining the first deceleration distance and the second deceleration distance required for the first piston and the second piston to move to the preset position based on the suction deceleration time and the pushing deceleration time, respectively; and determining the first deceleration position and the second deceleration position based on the first deceleration distance and the second deceleration distance, respectively; wherein the first current speed is determined based on the second current speed.

[0083] In one embodiment, determining the first deceleration position and the second deceleration position based on the first deceleration distance and the second deceleration distance respectively includes: determining the first uniform speed duration for the first pumping mechanism to perform uniform speed suction operation based on the first deceleration distance and the current running distance of the first piston; determining the second uniform speed duration for the second pumping mechanism to perform uniform speed pushing operation based on the second deceleration distance and the current running distance of the second piston; and determining the first deceleration position and the second deceleration position based on the first uniform speed duration and the second uniform speed duration respectively.

[0084] In one embodiment, the pumping device further includes a material conveying pipe and a hopper. The first pumping mechanism and the second pumping mechanism are connected through the material conveying pipe. The first pumping mechanism further includes a first distribution valve, a first material conveying cylinder, and a first position sensor. The first distribution valve is connected to the first material conveying cylinder. The second pumping mechanism further includes a second distribution valve, a second material conveying cylinder, and a second position sensor. The second distribution valve is connected to the second material conveying cylinder. The method further includes: before controlling the first pumping mechanism and the second pumping mechanism to perform uniform pumping operation, controlling the first distribution valve to be in a first working position so that the hopper is connected to the first material conveying cylinder, and controlling the first drive motor to drive the first piston to run at a first initial speed; when the first position sensor detects the first piston, controlling the first drive motor to stop running and setting the first initial distance of the first piston to a preset value; controlling the second distribution valve to be in a second working position so that the material conveying pipe is connected to the second material conveying cylinder, and controlling the second drive motor to drive the second piston to run at a second initial speed; when the second position sensor detects the second piston, controlling the second drive motor to stop running and setting the second initial distance of the second piston to a preset value.

[0085] In one embodiment, controlling the first pumping mechanism and the second pumping mechanism to perform a uniform pumping operation includes: setting both the first initial distance and the second initial distance to preset values, re-controlling the second distribution valve to the second working position to connect the material conveying pipe to the second material conveying cylinder, and controlling the second drive motor to start accelerating to drive the second piston to perform an accelerated pushing operation; when the second drive motor accelerates to the second current speed, controlling the second drive motor to drive the second piston to perform a uniform pushing operation at the second current speed; after the second piston performs a uniform pushing operation, re-controlling the first distribution valve to the first working position to connect the hopper to the first material conveying cylinder, and controlling the first drive motor to start accelerating to drive the first piston to perform an accelerated suction operation; when the first drive motor accelerates to the first current speed, controlling the first drive motor to drive the first piston to perform a uniform suction operation at the first current speed; wherein the first current speed is greater than the second current speed.

[0086] In one embodiment, the method further includes: when the first current rotational speed is decelerated to a preset rotational speed, determining the current running distance of the first piston as the preset total stroke of the first piston; controlling the first distribution valve to switch the first working position to the third working position within a first preset time period, so that the material conveying pipe is connected to the first material conveying cylinder, and setting the current running distance of the first piston to a preset value.

[0087] In one embodiment, the method further includes: when the first current speed decelerates to a preset speed and the second piston moves to a second deceleration position, controlling the first drive motor to accelerate from the preset speed to a third current speed within a second preset time period to drive the first piston to perform accelerated pushing operation; controlling the first drive motor to drive the first piston to perform uniform pushing operation at the third current speed; wherein the second preset time period is determined according to the time required for the second drive motor to decelerate from the corresponding second current speed to the preset speed.

[0088] In one embodiment, the pumping device further includes a hopper, and the method further includes: when the second drive motor decelerates from the corresponding second current speed to a preset speed, determining the current running distance of the second piston as the preset total stroke of the second piston; controlling the second distribution valve to switch the second working position to the fourth working position within a third preset time period, so that the hopper is connected to the second material conveying cylinder, and setting the current running distance of the second piston to a preset value; controlling the second drive motor to accelerate from the preset speed to the fourth current speed within a fourth preset time period, so as to drive the second piston to perform accelerated material suction operation; and controlling the second drive motor to drive the second piston to perform uniform speed material suction operation at the fourth current speed.

[0089] This application also provides a computer program product that, when executed on a data processing device, is adapted to execute a program having initialization steps for a control method for a pumping device.

[0090] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0091] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0092] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0093] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0094] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0095] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0096] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0097] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0098] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for a pumping device, characterized in that, The pumping device includes a first pumping mechanism and a second pumping mechanism. The first pumping mechanism includes a first electric cylinder and a first piston. The first electric cylinder includes a first drive motor, which drives the first electric cylinder to operate, thereby causing the first electric cylinder to drive the first piston. The second pumping mechanism includes a second electric cylinder and a second piston. The second electric cylinder includes a second drive motor, which drives the second electric cylinder to operate, thereby causing the second electric cylinder to drive the second piston. The control method includes: The first pumping mechanism and the second pumping mechanism are controlled to perform uniform pumping operations, and the current torque and current speed of each of the first drive motor and the second drive motor are obtained; The first deceleration position of the first piston and the second deceleration position of the second piston are determined based on the current torque and current speed of each drive motor. When the first piston reaches the first deceleration position, the first drive motor is controlled to decelerate from the corresponding first current speed. When the first current speed decelerates to a preset speed and the second piston moves to the second deceleration position, the second drive motor is controlled to decelerate from the corresponding second current speed to the preset speed. The step of determining the first deceleration position of the first piston and the second deceleration position of the second piston based on the current torque and current speed of each drive motor includes: The material deceleration time required for the first drive motor to decrease from the first current speed to a preset speed is determined based on the first current torque and the first current speed of the first drive motor. The push deceleration time required for the second drive motor to decrease from the second current speed to the preset speed is determined based on the second current torque and the second current speed of the second drive motor. The first deceleration distance and the second deceleration distance required for the first piston and the second piston to move to the preset position are determined according to the suction deceleration time and the push deceleration time, respectively. The first uniform speed duration for the first pumping mechanism to perform uniform speed suction operation is determined based on the first deceleration distance and the current running distance of the first piston. The second uniform speed duration for the second pumping mechanism to perform uniform speed pushing operation is determined based on the second deceleration distance and the current running distance of the second piston; The first deceleration position and the second deceleration position are determined based on the first uniform speed duration and the second uniform speed duration, respectively. The first current rotational speed is determined based on the second current rotational speed.

2. The control method for a pumping device according to claim 1, characterized in that, The pumping device further includes a material conveying pipe and a hopper. The first pumping mechanism and the second pumping mechanism are connected through the material conveying pipe. The first pumping mechanism further includes a first distribution valve, a first material conveying cylinder, and a first position sensor. The first distribution valve is connected to the first material conveying cylinder. The second pumping mechanism further includes a second distribution valve, a second material conveying cylinder, and a second position sensor. The second distribution valve is connected to the second material conveying cylinder. The method further includes: Before controlling the first pumping mechanism and the second pumping mechanism to perform uniform pumping operation, the first distribution valve is controlled to be in the first working position so that the hopper is connected to the first material conveying cylinder, and the first drive motor is controlled to drive the first piston to run at the first initial speed. When the first position sensor detects the first piston, the first drive motor is controlled to stop running, and the first initial distance of the first piston is set to a preset value; The second distribution valve is controlled to be in the second working position so that the material conveying pipe is connected to the second material conveying cylinder, and the second drive motor is controlled to drive the second piston to run at the second initial speed; When the second position sensor detects the second piston, the second drive motor is controlled to stop running, and the second initial distance of the second piston is set to the preset value.

3. The control method for a pumping device according to claim 2, characterized in that, The control of the first pumping mechanism and the second pumping mechanism to perform uniform pumping operation includes: With both the first initial distance and the second initial distance set to the preset value, the second distribution valve is re-controlled to the second working position so that the material conveying pipe is connected to the second material conveying cylinder, and the second drive motor is controlled to start accelerating so as to drive the second piston to perform accelerated pushing operation; When the second drive motor accelerates to the second current speed, the second drive motor is controlled to drive the second piston to perform a uniform speed pushing operation at the second current speed. After the second piston performs a uniform speed pushing operation, the first distribution valve is controlled to return to the first working position so that the hopper is connected to the first material conveying cylinder, and the first drive motor is controlled to start accelerating so as to drive the first piston to perform an accelerated suction operation. When the first drive motor accelerates to the first current speed, the first drive motor is controlled to drive the first piston to perform a uniform speed feeding operation at the first current speed. Wherein, the first current rotational speed is greater than the second current rotational speed.

4. The control method for a pumping device according to claim 3, characterized in that, The method further includes: When the first current speed decelerates to a preset speed, the current running distance of the first piston is determined to be the preset total stroke of the first piston; The first distribution valve is controlled to switch the first working position to the third working position within a first preset time period, so that the material conveying pipe is connected to the first material conveying cylinder, and the current running distance of the first piston is set to the preset value.

5. The control method for a pumping device according to claim 1, characterized in that, The method further includes: When the first current speed decelerates to the preset speed and the second piston moves to the second deceleration position, the first drive motor is controlled to accelerate from the preset speed to the third current speed within a second preset time period, so as to drive the first piston to perform accelerated material pushing operation; Control the first drive motor to drive the first piston at the third current speed to perform a uniform speed pushing operation; The second preset time period is determined based on the time required for the second drive motor to decelerate from the corresponding second current speed to the preset speed.

6. The control method for a pumping device according to claim 2, characterized in that, The pumping device further includes a hopper, and the method further includes: When the second drive motor decelerates from the corresponding second current speed to the preset speed, the current running distance of the second piston is determined to be the preset total stroke of the second piston; The second distribution valve is controlled to switch the second working position to the fourth working position within a third preset time period, so that the hopper is connected to the second material conveying cylinder, and the current running distance of the second piston is set to a preset value; The second drive motor is controlled to accelerate from the preset speed to the fourth current speed within a fourth preset time period, so as to drive the second piston to perform accelerated material suction operation; The second drive motor is controlled to drive the second piston at the fourth current speed to perform a uniform feeding operation.

7. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by a processor, this instruction causes the processor to be configured to perform the control method for a pumping device according to any one of claims 1 to 6.

8. A processor, characterized in that, It is configured to perform the control method for a pumping device according to any one of claims 1 to 6.

9. A control system for a pumping device, characterized in that, The control system includes: A pumping device includes a first pumping mechanism and a second pumping mechanism. The first pumping mechanism includes a first electric cylinder and a first piston. The first electric cylinder includes a first drive motor, which drives the first electric cylinder to operate, thereby causing the first electric cylinder to drive the first piston. The second pumping mechanism includes a second electric cylinder and a second piston. The second electric cylinder includes a second drive motor, which drives the second electric cylinder to operate, thereby causing the second electric cylinder to drive the second piston. The processor according to claim 8.

10. The control system for a pumping device according to claim 9, characterized in that, The pumping device further includes a material conveying pipe and a hopper, and the first pumping mechanism and the second pumping mechanism are connected through the material conveying pipe; The first pumping mechanism further includes: a first distribution valve, a first material conveying cylinder, and a first position sensor, wherein the first distribution valve is connected to the first material conveying cylinder; The second pumping mechanism further includes: a second distribution valve, a second material conveying cylinder, and a second position sensor, wherein the second distribution valve is connected to the second material conveying cylinder.

Images