Anti-slip cylinder control method and system for pump truck and pump truck

Abstract

The invention relates to the field of engineering machinery, and discloses a cylinder slip prevention control method and system for a pump truck, the pump truck and a machine readable storage medium, the pump truck comprises a pumping system and a motor, a main pump of the pumping system is in driving connection with the motor and operates under driving of the motor, and the cylinder slip prevention control method comprises the steps that a pump stop signal is received; and in response to the pump stopping signal, the main pump is kept at the fixed opening degree, the rotating speed of the motor is gradually reduced until the piston of the concrete cylinder in the discharging state in the pumping system stops moving, and the motor is made to operate at the current rotating speed. According to the anti-slip cylinder control method, the phenomenon of cylinder slip can be avoided, the purpose of preventing cylinder slip is achieved, good reliability and practicability are achieved, additional sensors do not need to be additionally arranged, and the anti-slip cylinder control method is suitable for pumping systems in any form.

Description

Technical Field

[0001] The present invention belongs to the field of engineering machinery, and in particular, relates to a method and system for controlling an anti-slip cylinder of a pump truck, a pump truck, and a machine-readable storage medium. Background Art

[0002] When the pump truck stops pumping concrete, because the boom of the pump truck has a certain extension height, the concrete in the boom pipe will exert a large pressure on the piston of the concrete cylinder in the discharging state (i.e., the concrete cylinder connected to the S valve) under the action of its own gravity. At this time, the concrete in the boom pipe is likely to push back the piston of the concrete cylinder, i.e., the cylinder slip phenomenon. When the cylinder slip phenomenon occurs, for the pumping system with the left and right cylinders hydraulically connected, the hydraulic force will drive the piston of the concrete cylinder in the suction state to move, pushing the sucked concrete back into the hopper, causing the concrete to overflow from the hopper, while for the pumping system with the left and right cylinders not hydraulically connected, it will cause the water in the water tank to overflow. Summary of the invention

[0003] In view of the above-mentioned deficiencies or defects in the prior art, the present invention provides a cylinder slip prevention control method and system for a pump truck, a pump truck, and a machine-readable storage medium, aiming to solve the technical problem that the cylinder of a pump truck is prone to slipping when pumping stops.

[0004] To achieve the above object, the present invention provides a method for controlling an anti-slip cylinder for a pump truck, wherein the pump truck comprises a pumping system and a motor, wherein a main pump of the pumping system is drivingly connected to the motor and operates under the drive of the motor, and the anti-slip cylinder control method comprises:

[0005] Receive a pump stop signal;

[0006] In response to the pump stop signal, the main pump maintains a fixed opening, and the speed of the motor is gradually reduced until the piston of the concrete cylinder in the pumping system that is in a discharging state stops moving, so that the motor maintains the current speed.

[0007] Optionally, in response to the pump stop signal, maintaining a fixed opening of the main pump and gradually reducing the speed of the motor until the piston of the concrete cylinder in the discharge state in the pumping system stops moving, and maintaining the motor at a current speed includes:

[0008] Determine a first decreasing speed, and reduce the speed of the motor to the first decreasing speed;

[0009] The motor is made to perform cyclic speed reduction with the first speed reduction as the starting point and a preset time interval as a speed reduction cycle. In the first speed reduction cycle, the speed of the motor is reduced from the first speed reduction to a preset second speed reduction. In each subsequent speed reduction cycle, the speed reduction amplitude of the motor is determined according to the movement amplitude of the piston of the concrete cylinder in the discharging state in the previous speed reduction cycle, and the motor is reduced according to the speed reduction amplitude.

[0010] Multiple speed reduction cycles are continuously repeated until the movement amplitude of the piston of the concrete cylinder in the discharging state is 0, so that the motor maintains the current speed.

[0011] Optionally, determining the first speed and reducing the speed of the motor to the first speed includes:

[0012] Obtaining a corresponding relationship table between the opening degree of the main pump and the first decreasing speed;

[0013] The first decreasing rotation speed is determined according to the opening degree of the main pump and the corresponding relationship table.

[0014] Optionally, in each subsequent deceleration cycle, determining the speed reduction amplitude of the motor according to the movement amplitude of the piston of the concrete cylinder in the discharging state in the previous deceleration cycle includes:

[0015] In each subsequent deceleration cycle, the movement amplitude of the piston of the concrete cylinder in the discharging state in the previous deceleration cycle is obtained and multiplied by a preset coefficient, and the obtained value is the speed reduction amplitude of the motor.

[0016] The present invention also provides an anti-slip cylinder control system for a pump truck, the pump truck comprising a pumping system and a motor, the main pump of the pumping system is connected to the motor and operates under the drive of the motor, the anti-slip cylinder control system comprises a processor, and the processor is configured as follows:

[0017] Receive a pump stop signal;

[0018] In response to the pump stop signal, the main pump maintains a fixed opening, and the speed of the motor is gradually reduced until the piston of the concrete cylinder in the pumping system that is in a discharging state stops moving, so that the motor maintains the current speed.

[0019] Optionally, the anti-slip cylinder control system is also used for detecting the position of the piston of the concrete cylinder. The processor is connected to the position detection device by signal and is further configured as follows:

[0020] Determine a first decreasing speed, and reduce the speed of the motor to the first decreasing speed;

[0021] The motor is made to perform cyclic speed reduction with the first speed reduction as the starting point and a preset time interval as a speed reduction cycle. In the first speed reduction cycle, the speed of the motor is reduced from the first speed reduction to a preset second speed reduction. In each subsequent speed reduction cycle, the speed reduction amplitude of the motor is determined according to the movement amplitude of the piston of the concrete cylinder in the discharging state in the previous speed reduction cycle, and the motor is reduced according to the speed reduction amplitude.

[0022] Multiple speed reduction cycles are continuously repeated until the movement amplitude of the piston of the concrete cylinder in the discharging state is 0, so that the motor maintains the current speed.

[0023] Optionally, the processor is further configured to:

[0024] Obtaining a corresponding relationship table between the opening degree of the main pump and the first decreasing speed;

[0025] The first decreasing rotation speed is determined according to the opening degree of the main pump and the corresponding relationship table.

[0026] Optionally, the processor is further configured to:

[0027] In each subsequent deceleration cycle, the movement amplitude of the piston of the concrete cylinder in the discharging state in the previous deceleration cycle is obtained and multiplied by a preset coefficient, and the obtained value is the speed reduction amplitude of the motor.

[0028] The present invention also provides a pump truck, comprising the above-mentioned anti-slip cylinder control system for the pump truck.

[0029] The present invention also provides a machine-readable storage medium, comprising the above-mentioned anti-slip cylinder control method for a pump truck.

[0030] Through the above technical scheme, the main pump of the pump truck is driven by a motor. When the pump stop signal is received, the main pump maintains a fixed opening and the motor speed is gradually reduced. In the process of reducing the motor speed, the hydraulic thrust on the piston of the concrete cylinder will gradually decrease. When the piston of the concrete cylinder stops moving, it means that the concrete thrust on the piston of the concrete cylinder is balanced with the hydraulic thrust. By keeping the motor running at the current speed, the piston of the concrete cylinder can maintain force balance, thereby avoiding the cylinder slipping phenomenon, that is, achieving the purpose of preventing the cylinder from slipping. This anti-slipping method has good reliability and practicality, does not require the addition of additional sensors, and is suitable for any form of pumping system.

[0031] Other features and advantages of the present invention will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation of the present invention.

[0033] In the attached picture:

[0034] Figure 1 It is a schematic diagram of the structure of the pumping system and the motor;

[0035] Figure 2 The present invention is a flowchart of an anti-slip cylinder control method for a pump truck in an embodiment of the present invention.

[0036] Description of reference numerals:

[0037] 1 Motor

[0038] 2 Main pump

[0039] 3 Concrete cylinder

[0040] 4 Master cylinder

[0041] 5 Water tank DETAILED DESCRIPTION

[0042] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0043] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0044] In the present invention, unless otherwise specified, the directions or positional relationships indicated by directional words such as "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the embodiments of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0045] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0046] A first exemplary embodiment of the present invention provides an anti-slip cylinder control method for a pump truck.

[0047] See attached Figure 1 and attached Figure 2As shown, the pump truck includes a pumping system and a motor 1, a main pump 2 of the pumping system is connected to the motor 1 and operates under the drive of the motor 1, and the anti-slip cylinder control method includes the following steps:

[0048] Step S1. receiving a pump stop signal;

[0049] Step S2. In response to the pump stop signal, the main pump 2 maintains a fixed opening and gradually reduces the speed of the motor 1 until the piston of the concrete cylinder 3 in the pumping system that is in the discharging state stops moving, so that the motor 1 maintains the current speed.

[0050] As shown in the accompanying drawings, the pumping system specifically includes two groups of feeding components and a water tank 5. Each group of feeding components includes a concrete cylinder 3 and a main oil cylinder 4. The concrete cylinder 3, the water tank 5 and the main oil cylinder 4 are connected in sequence. The concrete cylinder 3 is connected to the water tank 5. The piston of the concrete cylinder 3 and the piston of the main oil cylinder 4 are connected by a piston connecting rod that runs through the water tank. The main oil cylinder 4 is hydraulically connected to the main pump 2. The piston of the main oil cylinder 4 moves under the drive of the main pump 2, thereby driving the piston of the concrete cylinder 3 to move, so as to achieve the suction or push out of the concrete cylinder 3. The material port of the concrete cylinder 3 in the suction state is connected to the hopper. When pushing out concrete, the material port of the concrete cylinder 3 in the discharge state is connected to the S valve. It should be noted that the structure and working principle of the pumping system itself are well known to those skilled in the art, so they will not be repeated here.

[0051] It can be understood that the concrete cylinder 3 in the discharging state, that is, the concrete cylinder 3 connected with the S valve to be connected with the boom pipeline, is in an operating state of pushing out concrete before receiving the pump stop signal.

[0052] In this embodiment, the main pump 2 of the pump truck is driven by the motor 1. When the pump stop signal is received, the main pump 2 maintains a fixed opening and the speed of the motor 1 is gradually reduced. In the process of reducing the speed of the motor 1, the hydraulic thrust exerted on the piston of the concrete cylinder 3 will gradually decrease. When the piston of the concrete cylinder 3 stops moving, it means that the concrete thrust exerted on the piston of the concrete cylinder 3 is balanced with the hydraulic thrust exerted on it. By maintaining the current speed of the motor 1, the force balance of the piston of the concrete cylinder 3 can be maintained, thereby avoiding the cylinder slipping phenomenon, that is, achieving the purpose of preventing the cylinder from slipping. This anti-slipping method has good reliability and practicality, does not require the addition of additional sensors, and is suitable for any form of pumping system.

[0053] In one embodiment, step S2 includes:

[0054] Step S21. Determine a first decreasing speed, and reduce the speed of the motor 1 to the first decreasing speed;

[0055] Step S22. The motor 1 is caused to perform cyclic deceleration with the first deceleration speed as the starting point and the preset time interval as a deceleration cycle. In the first deceleration cycle, the speed of the motor 1 is reduced from the first deceleration speed to the preset second deceleration speed. In each subsequent deceleration cycle, the speed reduction amplitude of the motor 1 is determined according to the movement amplitude of the piston of the concrete cylinder 3 in the discharging state in the previous deceleration cycle, and the motor 1 is decelerated according to the speed reduction amplitude.

[0056] Step S23. Continuously cycle through multiple speed reduction cycles until the movement amplitude of the piston of the concrete cylinder 3 in the discharging state is 0, and the motor 1 is kept running at the current speed.

[0057] It can be understood that, through step S2 of this embodiment, the rotation speed of the motor 1 can be changed accordingly according to the movement amplitude of the piston of the concrete cylinder 3 in the discharging state, so that the piston of the concrete cylinder 3 can gradually move to a position of force balance.

[0058] Specifically, the first decreasing rotation speed may be preset, or determined by the opening degree of the main pump 2 , and details may refer to subsequent embodiments.

[0059] It should be noted that the second decreasing rotation speed is determined based on experiments.

[0060] Further, step S21 includes:

[0061] Obtaining a corresponding relationship table between the opening degree of the main pump 2 and the first decreasing speed;

[0062] The first decreasing rotation speed is determined according to the opening degree of the main pump 2 and the corresponding relationship table.

[0063] Preferably, taking into account the characteristic that the greater the opening of the main pump 2, the higher its efficiency, based on a design that considers optimal efficiency, in response to a pump stop signal, the main pump 2 can be switched to the maximum opening and remain fixed. Of course, in other embodiments, in response to a pump stop signal, the main pump 2 can also be kept fixed at the current opening.

[0064] In this embodiment, the first decreasing speed is determined by the opening of the main pump 2. The corresponding relationship table between the opening of the main pump 2 and the first decreasing speed can be determined by experiments. Specifically, the boom pipe of the pump truck is filled with concrete, and the boom pipe of the pump truck is vertically extended to the highest height, and the opening of the main pump 2 is adjusted to the target opening. Then, the speed of the motor 1 is gradually reduced until it can slightly push the piston of the concrete cylinder 3 in the discharging state. The speed of the motor 1 at this time is the first decreasing speed corresponding to the opening of the main pump 2 at this time. In this way, the corresponding relationship table between the opening of the main pump 2 and the first decreasing speed can be obtained. Specifically, the corresponding relationship table between the opening of the main pump 2 and the first decreasing speed can be pre-stored in the data storage device.

[0065] It can be understood that in this embodiment, the first decreasing speed is determined by the opening of the main pump 2. Under the condition of ensuring sufficient hydraulic thrust on the piston of the concrete cylinder 3 in the discharging state, the speed of the motor 1 can be quickly reduced to the first decreasing speed first, and then gradually reduced in speed. Such a setting can improve the efficiency of the motor 1 in reducing the speed.

[0066] Furthermore, in each subsequent deceleration cycle, the step of determining the speed reduction amplitude of the motor 1 according to the movement amplitude of the piston of the concrete cylinder 3 in the discharging state in the previous deceleration cycle specifically includes:

[0067] In each subsequent deceleration cycle, the movement amplitude of the piston of the concrete cylinder 3 in the discharging state in the previous deceleration cycle is obtained and multiplied by a preset coefficient, and the obtained value is the speed reduction amplitude of the motor 1.

[0068] It should be noted that the preset coefficients are obtained based on experiments.

[0069] A second exemplary embodiment of the present invention provides an anti-slip cylinder control system for a pump truck.

[0070] The pump truck includes a pumping system and a motor 1. The main pump 2 of the pumping system is connected to the motor 1 and operates under the drive of the motor 1. The anti-slip cylinder control system includes a processor, and the processor is configured as follows:

[0071] Receive a pump stop signal;

[0072] In response to the pump stop signal, the main pump 2 maintains a fixed opening and the speed of the motor 1 is gradually reduced until the piston of the concrete cylinder 3 in the discharge state in the pumping system stops moving, so that the motor 1 maintains the current speed.

[0073] In one embodiment, the anti-slip cylinder control system is also used for detecting the position of the piston of the concrete cylinder 3 by a position detection device, and the processor is connected to the position detection device signal and is further configured as follows:

[0074] Determine a first decreasing speed, and reduce the speed of the motor 1 to the first decreasing speed;

[0075] The motor 1 is made to perform cyclic deceleration with a first deceleration speed as a starting point and a preset time interval as a deceleration cycle. In the first deceleration cycle, the speed of the motor 1 is reduced from the first deceleration speed to a preset second deceleration speed. In each subsequent deceleration cycle, the speed reduction amplitude of the motor 1 is determined according to the movement amplitude of the piston of the concrete cylinder 3 in the discharging state in the previous deceleration cycle, and the motor 1 is decelerated according to the speed reduction amplitude.

[0076] Multiple speed reduction cycles are continuously repeated until the movement amplitude of the piston of the concrete cylinder 3 in the discharging state is 0, so that the motor 1 keeps running at the current speed.

[0077] Furthermore, the processor is further configured to:

[0078] Obtaining a corresponding relationship table between the opening degree of the main pump 2 and the first decreasing speed;

[0079] The first decreasing rotation speed is determined according to the opening degree of the main pump 2 and the corresponding relationship table.

[0080] Furthermore, the processor is further configured to:

[0081] In each subsequent deceleration cycle, the movement amplitude of the piston of the concrete cylinder 3 in the discharging state in the previous deceleration cycle is obtained and multiplied by a preset coefficient, and the obtained value is the speed reduction amplitude of the motor 1.

[0082] A third exemplary embodiment of the present invention provides a pump truck, characterized by comprising the above-mentioned anti-slip cylinder control system for a pump truck.

[0083] A fourth exemplary embodiment of the present invention provides a machine-readable storage medium, comprising the above-mentioned anti-slip cylinder control method for a pump truck.

[0084] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0085] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0086] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0087] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for controlling an anti-slip cylinder of a pump truck, characterized in that: The pump truck comprises a pumping system and a motor (1), a main pump (2) of the pumping system is drivingly connected to the motor (1) and operates under the drive of the motor (1), and the anti-slip cylinder control method comprises: Receive a pump stop signal; In response to the pump stop signal, the main pump (2) maintains a fixed opening, and the rotation speed of the motor (1) is gradually reduced until the piston of the concrete cylinder (3) in the discharge state in the pumping system stops moving, so that the motor (1) maintains the current rotation speed.

2. The anti-slip cylinder control method for a pump truck according to claim 1, characterized in that: The step of maintaining a fixed opening of the main pump (2) in response to the pump stop signal and gradually reducing the rotation speed of the motor (1) until the piston of the concrete cylinder (3) in the discharge state of the pumping system stops moving and maintaining the motor (1) at the current rotation speed comprises: Determining a first decreasing speed, and reducing the speed of the motor (1) to the first decreasing speed; The motor (1) is caused to perform cyclic speed reduction with the first speed reduction speed as the starting point and a preset time interval as a speed reduction cycle. In the first speed reduction cycle, the speed of the motor (1) is reduced from the first speed reduction speed to a preset second speed reduction speed. In each subsequent speed reduction cycle, the speed reduction range of the motor (1) is determined according to the movement range of the piston of the concrete cylinder (3) in the discharging state in the previous speed reduction cycle, and the motor (1) is caused to reduce speed at the speed reduction range. Multiple speed reduction cycles are continuously repeated until the movement amplitude of the piston of the concrete cylinder (3) in the discharging state is 0, so that the motor (1) maintains the current rotation speed.

3. The anti-slip cylinder control method for a pump truck according to claim 2, characterized in that: The step of determining the first speed and reducing the speed of the motor (1) to the first speed comprises: Obtaining a corresponding relationship table between the opening degree of the main pump (2) and the first decreasing speed; The first decreasing rotation speed is determined according to the opening degree of the main pump (2) and the corresponding relationship table.

4. The anti-slip cylinder control method for a pump truck according to claim 2, characterized in that: In each subsequent deceleration cycle, determining the speed reduction range of the motor (1) according to the movement range of the piston of the concrete cylinder (3) in the discharging state in the previous deceleration cycle includes: In each subsequent deceleration cycle, the movement amplitude of the piston of the concrete cylinder (3) in the discharging state in the previous deceleration cycle is obtained and multiplied by a preset coefficient, and the obtained value is the speed reduction amplitude of the motor (1). 5.An anti-slip cylinder control system for a pump truck, characterized in that: The pump truck comprises a pumping system and a motor (1), a main pump (2) of the pumping system is drivingly connected to the motor (1) and operates under the drive of the motor (1), and the anti-slip cylinder control system comprises a processor, and the processor is configured as follows: Receive a pump stop signal; In response to the pump stop signal, the main pump (2) maintains a fixed opening, and the rotation speed of the motor (1) is gradually reduced until the piston of the concrete cylinder (3) in the discharge state in the pumping system stops moving, so that the motor (1) maintains the current rotation speed.

6. The anti-slip cylinder control system for a pump truck according to claim 5, characterized in that: The anti-slip cylinder control system is also used for detecting the position of the piston of the concrete cylinder (3) by a position detection device, and the processor is connected to the position detection device by signal and is further configured as follows: Determining a first decreasing speed, and reducing the speed of the motor (1) to the first decreasing speed; The motor (1) is caused to perform cyclic speed reduction with the first speed reduction speed as the starting point and a preset time interval as a speed reduction cycle. In the first speed reduction cycle, the speed of the motor (1) is reduced from the first speed reduction speed to a preset second speed reduction speed. In each subsequent speed reduction cycle, the speed reduction range of the motor (1) is determined according to the movement range of the piston of the concrete cylinder (3) in the discharging state in the previous speed reduction cycle, and the motor (1) is caused to reduce speed at the speed reduction range. Multiple speed reduction cycles are continuously repeated until the movement amplitude of the piston of the concrete cylinder (3) in the discharging state is 0, so that the motor (1) maintains the current rotation speed.

7. The anti-slip cylinder control system for a pump truck according to claim 6, characterized in that: The processor is further configured to: Obtaining a corresponding relationship table between the opening degree of the main pump (2) and the first decreasing speed; The first decreasing rotation speed is determined according to the opening degree of the main pump (2) and the corresponding relationship table.

8. The anti-slip cylinder control system for a pump truck according to claim 6, characterized in that: The processor is further configured to: In each subsequent deceleration cycle, the movement amplitude of the piston of the concrete cylinder (3) in the discharging state in the previous deceleration cycle is obtained and multiplied by a preset coefficient, and the obtained value is the speed reduction amplitude of the motor (1).

9. A pump truck, characterized in that: It comprises an anti-slip cylinder control system for a pump truck according to any one of claims 5 to 8.

10. A machine-readable storage medium, characterized in that: It comprises an anti-slip cylinder control method for a pump truck according to any one of claims 1 to 4.

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