Pumping method, apparatus and system, readable storage medium, and construction machine

Abstract

The present application relates to the technical field of construction machines, and provides a pumping method, apparatus and system, a readable storage medium, and a construction machine. The pumping method comprises: establishing a correspondence between stirring data and pumping control strategies; and acquiring stirring data during rotation of stirring blades in a hopper, and on the basis of the correspondence, matching a pumping control strategy corresponding to the stirring data to control a pumping system to perform pumping. By means of the technical solution of the present application, the shaking of a boom during pumping can be effectively reduced, the service life of the boom and a boom cylinder is prolonged, the discharge continuity during the pumping is improved, and the energy consumption of a device can be effectively reduced.

Description

Pumping method and device, system, readable storage medium, and engineering machinery

[0001] The present application claims priority to the Chinese patent application No. 202411112255.7, filed on August 14, 2024, and entitled "Pumping method and device, system, readable storage medium, and engineering machinery", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of engineering machinery, and more particularly, to a pumping method and device, system, readable storage medium, and engineering machinery. BACKGROUND

[0003] A pumping system mainly consists of a hopper, a stirring mechanism, a concrete distribution valve, a concrete delivery cylinder, and a main oil cylinder. Through the push-pull alternating action of the oil cylinder, hydraulic energy is converted into mechanical energy, so that the concrete overcomes the resistance of the pipeline and is delivered to the pouring site. During the concrete pumping process, the hopper is filled with concrete, and the stirring blades are placed in the hopper. The main function is to stir the concrete in the hopper by rotating the stirring blades to prevent segregation, caking, and other phenomena of the concrete.

[0004] Currently, there is a phenomenon of air suction at the tail of the delivery cylinder during the concrete pumping process, i.e., the concrete in the pumping truck pipeline system is discontinuous during the pumping process, causing the concrete pump truck boom to shake and the material to be discharged discontinuously, resulting in increased oil consumption of the equipment, and also exacerbating the wear of the vulnerable parts and reducing the service life of the boom and the boom oil cylinder. SUMMARY

[0005] The present application aims to provide a pumping method and device, system, readable storage medium, and engineering machinery, which at least improves one of the technical problems existing in the prior art or related art.

[0006] In a first aspect, the present application discloses a pumping method, comprising: establishing a corresponding relationship between stirring data and a pumping control strategy; obtaining stirring data in the stirring blade rotation process in the hopper, and matching the pumping control strategy corresponding to the stirring data according to the corresponding relationship to control the pumping system to pump.

[0007] In a second aspect, the present application discloses a pumping device, comprising: a hopper, a stirring system is arranged on the hopper, and the stirring system comprises stirring blades; a delivery cylinder connected to the hopper, a piston arranged in the delivery cylinder; a torque sensor for real-time collection of torque values in the stirring blade rotation process; a control system for grading the quality of concrete according to the torque values, and controlling the speed and stroke of the piston according to the quality grade of the concrete.

[0008] In combination with the above technical solution, the pumping device provided by the present application comprises a hopper, a conveying cylinder, a torque sensor and a control system. The torque sensor is used to collect the torque value in the rotating process of the stirring blade in real time. The control system is used to judge the quality grade of the concrete in the hopper according to the torque value, different concrete quality grades correspond to different pumping control strategies, and the speed and stroke of the piston are controlled according to the concrete quality grade. In different concrete states, setting different piston strokes can effectively avoid the problem of air absorption of the pumping system of the pump truck, the pumping displacement of the pump truck can be ensured by increasing the piston movement speed when the stroke is shortened, the adaptive control of the control system can ensure that there is no pumping air in the working process of the pump truck to cause arm frame shaking and high oil consumption, the service life of the arm frame and the arm frame oil cylinder can be effectively improved, the continuity of the discharging process can be improved, the equipment energy consumption can be effectively reduced, and the effect of saving oil is achieved.

[0009] In a third aspect, the present application discloses a pumping system, comprising: a matching module, used to establish a corresponding relationship between stirring data and a pumping control strategy; and a control module, used to acquire stirring data in the rotating process of stirring blades in a hopper, and control the pumping system to pump according to the pumping control strategy corresponding to the stirring data matched according to the corresponding relationship.

[0010] In combination with the above technical solution, the pumping system provided by the present application comprises a matching module and a control module. The matching module is used to establish a corresponding relationship between stirring data and a pumping control strategy. The control module is used to acquire stirring data in the rotating process of stirring blades in a hopper, and control the pumping system to pump according to the pumping control strategy corresponding to the stirring data matched according to the corresponding relationship. The pumping logic is automatically adjusted according to different quality states of the concrete, the adaptive control of the control system can ensure that there is no pumping air in the working process of the pump truck to cause arm frame shaking and high oil consumption, the service life of the arm frame and the arm frame oil cylinder can be effectively improved, the continuity of the discharging process can be improved, the equipment energy consumption can be effectively reduced, and the effect of saving oil is achieved.

[0011] In a fourth aspect, the present application discloses a pumping system, comprising: a storage and a processor, wherein the storage stores programs or instructions executable on the processor, and the processor implements the pumping method of any one of the technical solutions in the first aspect when executing the programs or instructions, so as to have the technical effects of any one of the technical solutions in the first aspect, which will not be repeated here.

[0012] In a fifth aspect, the present application discloses a readable storage medium, which stores programs or instructions, and the programs or instructions are executed by a processor to implement the steps of the pumping method of any one of the technical solutions in the first aspect, so as to have the technical effects of any one of the technical solutions in the first aspect, which will not be repeated here.

[0013] In a sixth aspect, the application discloses an engineering machine, comprising: the pumping device according to any one of the second aspect of the application; and / or the pumping system according to any one of the third aspect of the application; and / or the pumping system according to any one of the fourth aspect of the application; and / or the readable storage medium according to any one of the fifth aspect of the application.

[0014] In combination with the above technical solutions, the engineering machine provided by the application comprises the pumping device according to any one of the second aspect of the application and / or the pumping system according to any one of the third aspect of the application and / or the pumping system according to any one of the fourth aspect of the application and / or the readable storage medium according to any one of the fifth aspect of the application, and thus has all the beneficial effects of the pumping device according to any one of the second aspect of the application and / or the pumping system according to any one of the third aspect of the application and / or the pumping system according to any one of the fourth aspect of the application and / or the readable storage medium according to any one of the fifth aspect of the application, which will not be described here again.

[0015] In a seventh aspect, the application discloses a computer program product, comprising a computer program which, when executed by a processor, implements the steps of the pumping method according to any one of the first aspect, and thus has the technical effects of any one of the first aspect, which will not be described here again.

[0016] In an eighth aspect, the application discloses a computer program, comprising: the computer program, when executed by a processor, implements the steps of the pumping method according to any one of the first aspect, and thus has the technical effects of any one of the first aspect, which will not be described here again.

[0017] In combination with the above technical solutions, the pumping method and device, system, readable storage medium and engineering machine provided by the application comprise: first, establishing a corresponding relationship between the stirring data and the pumping control strategy. Then, the stirring data in the stirring blade rotation process in the hopper is acquired, the pumping control strategy corresponding to the stirring data is matched according to the corresponding relationship, and the pumping system is controlled to pump according to the corresponding pumping control strategy. According to the different quality states of the concrete, the pumping logic is automatically adjusted, the self-adaptation of the control system is ensured, the boom shaking and high oil consumption caused by pumping air during the working process of the pump truck are avoided, the service life of the boom and the boom cylinder is effectively improved, the continuity of the discharging in the pumping process is improved, the equipment energy consumption is effectively reduced, and the effect of saving oil is achieved.

[0018] Additional aspects and advantages of embodiments according to the present application will become apparent from the following description with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0019] Fig. 1 is a partial front view of a pumping device according to an embodiment of the application;

[0020] Fig. 2 is a front view of a pumping device according to an embodiment of the application;

[0021] Fig. 3 is a front view of a pumping device according to an embodiment of the application;

[0022] Fig. 4 is a front view of a pumping device according to an embodiment of the application;

[0023] Fig. 5 is a front view of a working machine according to an embodiment of the application;

[0024] Fig. 6 is a flow chart of a pumping method according to an embodiment of the application;

[0025] Fig. 7 is a flow chart of a pumping method according to an embodiment of the application;

[0026] Fig. 8 is a flow chart of a pumping method according to an embodiment of the application;

[0027] Fig. 9 is a schematic block diagram of a pumping system according to an embodiment of the application;

[0028] Fig. 10 is a schematic block diagram of a pumping system according to an embodiment of the application;

[0029] Fig. 11 is a schematic block diagram of a pumping device according to an embodiment of the application;

[0030] Fig. 12 is a flow chart of a pumping method according to an embodiment of the application;

[0031] Fig. 13 is a flow chart of a pumping method according to an embodiment of the application;

[0032] Fig. 14 is a flow chart of a pumping method according to an embodiment of the application;

[0033] Fig. 15 is a flow chart of a pumping method according to an embodiment of the application;

[0034] Fig. 16 is a flow chart of a pumping method according to an embodiment of the application.

[0035] Correspondence between reference numerals in FIGS. 1 to 16 and component names is as follows: 10: pumping device; 110: hopper; 112: stirring system; 114: stirring blade; 116: stirring shaft; 118: stirring motor; 120: delivery cylinder; 122: piston; 130: torque sensor; 140: pressure sensor; 150: control system; 160: oil cylinder; 170: water tank; 20: pumping system; 220: matching module; 230: control module; 30: pumping system; 300: memory; 400: processor; 50: working machine.

[0036] The specific embodiments of the present application have been shown and described in the above-described drawings, and will be described in more detail hereinafter. These drawings and detailed description are not intended to limit the scope of the present application concept in any way, but to illustrate the present application concept to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0037] In order to more clearly understand the above-mentioned purposes, features and advantages of the embodiments according to the present application, the embodiments according to the present application will be described in further detail below with reference to the accompanying drawings and specific embodiments. When the following description refers to the accompanying drawings, the same numbers on different drawings represent the same or similar elements unless otherwise indicated. It is noted that the embodiments described in the following examples do not represent all implementations consistent with the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims. Features of the embodiments according to the present application can be combined with each other as long as they do not conflict.

[0038] The term "and / or" in the embodiments of the present application describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after it.

[0039] In the following description, many specific details are set forth in order to provide a thorough understanding of the embodiments according to the present application, but the embodiments according to the present application can also be implemented in other ways different from those described herein, therefore, the scope of protection provided by the embodiments according to the present application is not limited by the specific embodiments disclosed below.

[0040] Some embodiments according to the present application will be described below with reference to FIGS. 1 to 16.

[0041] As shown in FIG. 1, FIG. 2 and FIG. 11, the embodiment of the second aspect of the present application provides a pumping device 10, which comprises a hopper 110, a delivery cylinder 120, a torque sensor 130 and a control system 150. Specifically, the hopper 110 is provided with a stirring system 112, which comprises stirring blades 114. The delivery cylinder 120 is connected to the hopper 110, and a piston 122 is arranged in the delivery cylinder 120. The torque sensor 130 is used to collect the torque value in the rotating process of the stirring blades 114 in real time. The control system 150 is used to grade the quality of the concrete according to the torque value, and control the speed and stroke of the piston 122 according to the quality grade of the concrete.

[0042] According to the pumping device 10 provided by the embodiment, the pumping device 10 comprises a hopper 110, a delivery cylinder 120, a torque sensor 130 and a control system 150. The torque sensor 130 is used to collect the torque value in the rotating process of the stirring blades 114 in real time. The control system 150 is used to judge the quality grade of the concrete in the hopper 110 according to the torque value, different concrete quality grades correspond to different pumping control strategies, and the speed and stroke of the piston 122 are controlled according to the quality grade of the concrete. In different concrete states, different strokes of the piston 122 can effectively avoid the problem of air absorption of the pumping system of the pump truck, and when the stroke is shortened, the pumping displacement of the pump truck can be ensured by increasing the movement speed of the piston 122. The self-adaptation of the control system 150 can ensure that there is no pumping air in the working process of the pump truck to cause the boom to shake and the oil consumption to be high, which can effectively improve the service life of the boom and the boom cylinder 160, improve the continuity of the discharging process, effectively reduce the energy consumption of the equipment, and achieve the effect of saving oil.

[0043] In some embodiments, the pumping device 10 optionally further comprises a pressure sensor 140. The pressure sensor 140 is used to obtain a stirring pressure value. The control system 150 is used to grade the quality of the concrete according to the torque value and the stirring pressure value, and control the speed and stroke of the piston 122 according to the quality grade of the concrete.

[0044] In some embodiments, the stirring system 112 optionally further comprises a stirring shaft 116 and a stirring motor 118. The stirring motor 118 drives the stirring blades 114 to rotate by driving the stirring shaft 116 to rotate, so as to stir the concrete in the hopper 110. The torque sensor 130 is arranged on the stirring shaft 116, and can collect the torque value in the rotating process of the stirring blades 114 in real time. The pressure sensor 140 is arranged on a hydraulic hose connected to the stirring motor 118, and is used to obtain a stirring pressure value.

[0045] In some embodiments, the pumping device 10 further comprises an oil cylinder 160 and a water tank 170. The oil cylinder 160 is connected with the delivery cylinder 120 for driving the piston 122. The water tank 170 is arranged between the oil cylinder 160 and the delivery cylinder 120. The movement stroke and speed of the piston 122 are adjusted by the action of the oil cylinder 160 driven by the hydraulic system.

[0046] In some embodiments, the number of the stirring systems 112 is two, and the two stirring systems 112 are symmetrically arranged on both sides of the hopper 110.

[0047] As shown in FIG. 16, the embodiment of the first aspect of the present application provides a pumping method, comprising the following steps:

[0048] Step S102: establishing a corresponding relationship between the stirring data and the pumping control strategy;

[0049] Step S104: obtaining the stirring data in the stirring blade rotation process in the hopper, and matching the pumping control strategy corresponding to the stirring data according to the corresponding relationship to control the pumping system to pump.

[0050] According to the pumping method provided by the embodiment, firstly, the corresponding relationship between the stirring data and the pumping control strategy is established. Then, the stirring data in the stirring blade rotation process in the hopper is obtained, the pumping control strategy corresponding to the stirring data is matched according to the corresponding relationship, and the pumping system is controlled to pump according to the corresponding pumping control strategy. The pumping logic is automatically adjusted according to the different quality states of the concrete, the self-adaptation of the control system is ensured, the arm shaking and high oil consumption caused by pumping air during the working process of the pump truck are avoided, the service life of the arm and the arm oil cylinder is effectively improved, the continuity of the discharging during the pumping process is improved, the energy consumption of the equipment is effectively reduced, and the effect of saving oil is achieved.

[0051] As shown in FIG. 6, according to the pumping method of one embodiment of the present application, the stirring data in the stirring blade rotation process in the hopper is obtained, the pumping control strategy corresponding to the stirring data is matched according to the corresponding relationship to control the pumping system to pump, and the specific steps include the following steps:

[0052] Step S202: obtaining the torque value in the stirring blade rotation process in the hopper;

[0053] Step S204: matching the preset torque value according to the torque value, and controlling the speed and stroke of the piston in the pumping system according to the pumping control strategy corresponding to the preset torque value.

[0054] In this embodiment, the stirring data in the rotation process of the stirring blade in the hopper is acquired, the pumping control strategy corresponding to the stirring data is matched according to the corresponding relationship, and the pumping system is controlled to pump, specifically, firstly, the torque value in the rotation process of the stirring blade in the hopper is acquired. Then, the preset torque value is matched according to the torque value, and the speed and stroke of the piston in the pumping system are controlled according to the pumping control strategy corresponding to the preset torque value. In different concrete states, different piston strokes are set, which can effectively avoid the problem of air absorption of the pumping system of the pump truck, the speed of the piston can be increased when the stroke is shortened to ensure the displacement of the pumping system of the pump truck, the self-adaptation of the control system is ensured, the arm frame will not shake and the oil consumption will not be high due to pumping air during the working process of the pump truck, the service life of the arm frame and the arm frame oil cylinder can be effectively improved, the continuity of the discharging process can be improved, the energy consumption of the equipment can be effectively reduced, and the effect of saving oil can be achieved.

[0055] As shown in FIG. 12, according to the pumping method of one embodiment of the present application, the corresponding relationship between the stirring data and the pumping control strategy is established, specifically including the following steps:

[0056] Step S302: acquiring stirring data and optimal pumping control strategy corresponding to the stirring data;

[0057] Step S304: different concretes correspond to different stirring data, and different stirring data correspond to different optimal pumping control strategies.

[0058] In this embodiment, the corresponding relationship between the stirring data and the pumping control strategy is established, specifically, firstly, the stirring data and the optimal pumping control strategy corresponding to the stirring data are acquired. Then, different concretes correspond to different stirring data, and different stirring data correspond to different optimal pumping control strategies. It can be understood that in one stirring data case, there are many pumping control strategies, and the optimal one needs to be found out, and under different stirring data, there are corresponding different optimal pumping control strategies, that is, no air is absorbed, there is no air in the conveying pipe, and the pumping efficiency is also high.

[0059] As shown in FIG. 13, according to the pumping method of one embodiment of the present application, different concretes correspond to different stirring data, and different stirring data correspond to different optimal pumping control strategies, specifically including the following steps:

[0060] Step S402: classifying the quality of different concretes according to the torque value in the stirring system corresponding to the concretes, to obtain multiple concrete quality grades;

[0061] Step S404: matching different piston speeds and strokes for different concrete quality grades.

[0062] In this embodiment, different concretes correspond to different mixing data, and different mixing data correspond to different optimal pumping control strategies. Specifically, the quality of the concrete is first graded according to the torque value in the mixing system corresponding to different concretes to obtain a plurality of concrete quality grades. Then, different concrete quality grades are matched with different piston speeds and strokes to obtain a pumping control strategy corresponding to different concrete quality grades.

[0063] As shown in FIG. 14, according to the pumping method of one embodiment of the present application, the preset torque value is matched according to the torque value, and specifically includes the following steps:

[0064] Step S502: Determine whether the torque value is within the preset torque value range.

[0065] Step S504: If the torque value is within the preset torque value range, match the torque value with the preset torque value.

[0066] In this embodiment, the preset torque value is matched according to the torque value, specifically, it is determined whether the torque value is within the preset torque value range. If the torque value is within the preset torque value range, the torque value is matched with the preset torque value. By matching the torque value with the preset torque value, the speed and stroke of the piston in the pumping system can be controlled according to the pumping control strategy corresponding to the preset torque value.

[0067] As shown in FIG. 15, according to the pumping method of one embodiment of the present application, the speed and stroke of the piston in the pumping system are controlled according to the pumping control strategy corresponding to the preset torque value, and specifically includes the following steps:

[0068] Step S602: When the preset torque value is a first torque value, control the speed of the piston in the pumping system to be a first speed and control the stroke of the piston to be a first stroke; or when the preset torque value is a second torque value, control the speed of the piston in the pumping system to be a second speed and control the stroke of the piston to be a second stroke; or when the preset torque value is a third torque value, control the speed of the piston in the pumping system to be a third speed and control the stroke of the piston to be a third stroke.

[0069] In this embodiment, when the preset torque value is a first torque value, the speed of the piston in the pumping system is controlled to be a first speed and the stroke of the piston is controlled to be a first stroke. When the preset torque value is a second torque value, the speed of the piston in the pumping system is controlled to be a second speed and the stroke of the piston is controlled to be a second stroke. When the preset torque value is a third torque value, the speed of the piston in the pumping system is controlled to be a third speed and the stroke of the piston is controlled to be a third stroke.

[0070] As shown in FIG. 7, according to the pumping method of one embodiment of the present application, the torque value in the rotation process of the mixing blade in the hopper is obtained, and specifically includes the following steps:

[0071] Step S702: obtaining the torque value of the stirring blade in the hopper during rotation through a torque sensor.

[0072] In this embodiment, the torque value of the stirring blade in the hopper during rotation is obtained, specifically, the torque value of the stirring blade in the hopper during rotation is obtained through a torque sensor, so that the quality of the concrete can be classified according to the torque value.

[0073] As shown in FIG. 9, the embodiment of the third aspect of the present application provides a pumping system 20, comprising: a matching module 220, configured to establish a correspondence between stirring data and a pumping control strategy; and a control module 230, configured to obtain stirring data of a stirring blade in a hopper during rotation, and control the pumping system to pump according to the pumping control strategy corresponding to the stirring data matched according to the correspondence.

[0074] According to the pumping system 20 provided by the embodiment, the pumping system 20 comprises the matching module 220 and the control module 230. The matching module 220 is configured to establish a correspondence between stirring data and a pumping control strategy. The control module 230 is configured to obtain stirring data of a stirring blade in a hopper during rotation, and control the pumping system to pump according to the pumping control strategy corresponding to the stirring data matched according to the correspondence. In different states of the concrete, different piston strokes are set to effectively avoid the problem of air suction of the pump truck pumping system. When the stroke is shortened, the piston movement speed can be increased to ensure the displacement of the pump truck pumping system, the self-adaptation of the control system is ensured, and the pump truck working process will not have the problems of arm shaking and high oil consumption caused by pumping air, which can effectively improve the service life of the arm and the arm cylinder, improve the continuity of the discharging process, effectively reduce the energy consumption of the equipment, and achieve the effect of saving oil.

[0075] As shown in FIG. 10, the embodiment of the fourth aspect of the present application provides a pumping system 30, comprising a storage 300 and a processor 400, wherein the storage 300 stores programs or instructions executable on the processor 400, and the processor 400 executes the programs or instructions to implement the steps of the pumping method of any one of the embodiments of the first aspect, so as to have the technical effects of any one of the embodiments of the first aspect, which will not be described here.

[0076] It should be understood that the processor 400 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the application can be directly embodied as hardware processor execution, or executed by a combination of hardware and software modules in the processor. The memory 300 can include a high-speed random access memory (RAM), and can also include a non-volatile memory NVM, such as at least one disk memory, and can also be a U disk, a mobile hard disk, a read-only memory, a magnetic disk or an optical disk, etc.

[0077] Optionally, the pumping system 30 can also include a communication interface. In a specific implementation, if the communication interface, the memory 300 and the processor 400 are independently implemented, the communication interface, the memory 300 and the processor 400 can be connected to each other through a bus and complete communication between each other. The bus can be an industry standard architecture (ISA) bus, a peripheral component (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc., but it does not mean that there is only one bus or one type of bus.

[0078] Optionally, in a specific implementation, if the communication interface, the memory 300 and the processor 400 are integrated on a chip, the communication interface, the memory 300 and the processor 400 can complete communication through an internal interface.

[0079] The embodiment of the fifth aspect of the application provides a readable storage medium, which stores a program or instructions, and the program or instructions are executed by a processor to realize the steps of the pumping method of any one of the embodiments of the first aspect, so as to have the technical effects of any one of the embodiments of the first aspect, which will not be repeated here.

[0080] It is to be understood that the readable storage medium can be any available medium or data storage device that a processor can access, including but not limited to a magnetic storage device (e.g., floppy diskette, hard disk drive, tape, etc.), an optical storage device (e.g., CD (Compact Disc), DVD (Digital Versatile Disc), BD (Blu-ray Disc), HVD (Holographic Versatile Disc), etc.), and a semiconductor storage device (e.g., ROM (Read Only Memory), EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), flash memory, solid state drive, etc.).

[0081] As shown in Fig. 5, the embodiment of the sixth aspect of the present application provides an engineering machine 50 comprising the pumping device 10 according to any one of the above embodiments and / or the pumping system 20 according to any one of the above embodiments and / or the readable storage medium according to any one of the above embodiments.

[0082] The engineering machine 50 according to the embodiment of the present application comprises the pumping device 10 according to any one of the above embodiments and / or the pumping system 20 according to any one of the above embodiments and / or the pumping system 30 according to any one of the above embodiments and / or the readable storage medium according to any one of the above embodiments, and thus has all the beneficial effects of the pumping device 10 according to any one of the above embodiments and / or the pumping system 20 according to any one of the above embodiments and / or the pumping system 30 according to any one of the above embodiments and / or the readable storage medium according to any one of the above embodiments, which will not be repeated here. The engineering machine comprises a concrete pump truck.

[0083] As shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 8, the pumping device 10 according to one specific embodiment of the present application comprises a hopper 110, a delivery cylinder 120, a piston 122, a water tank 170, and an oil cylinder 160, wherein the movement stroke and movement speed of the piston 122 are adjusted by the action of the oil cylinder 160 driven by the hydraulic system.

[0084] Specifically, a torque sensor 130 is installed on the stirring shaft 116 in the stirring system 112 in the hopper 110 of the pump truck, which can collect the torque value in the rotation process of the stirring blade 114 in real time, and the hydraulic system pressure value of the hydraulic motor is used to judge the quality grade of the concrete in the hopper 110.

[0085] In the previous stage, through factory test, different concrete qualities are collected to obtain corresponding values of the stirring torque sensor 130 and the stirring hydraulic system pressure, and the concrete is divided into N levels, such as A0, A1, A2, …, An, and different concrete quality levels correspond to different pumping control strategies. For example, when the concrete level is A0, the corresponding pumping control strategy is to pump in the normal pumping mode.

[0086] As shown in FIG. 3 and FIG. 5, it is found that when the concrete quality in the hopper 110 is poor, the concrete pump truck pumping system has a certain angle of inclination.

[0087] At this time, according to the conventional pumping mode, the piston 122 in the delivery cylinder 120 will retreat to the end of the delivery cylinder 120 to perform the material suction process regardless of the concrete condition. When the concrete is poor, a phenomenon that a part of the end of the delivery cylinder 120 cannot suck the material and a part of air exists will occur. This part of air will cause the concrete in the pump truck pipeline system to be discontinuous when the piston 122 pushes outward, i.e., in the pumping process, which will cause a series of problems such as shaking of the boom of the concrete pump truck and discontinuous discharge, and increase the oil consumption of the equipment.

[0088] As shown in FIG. 4, to solve the above problem, it is found that by controlling the movement stroke of the piston 122, different piston strokes can be set under different concrete conditions to effectively avoid the problem of air suction in the pumping system of the pump truck.

[0089] As shown in FIG. 8, the technical solution of this embodiment is as follows. First, the concrete quality for this time of pumping is judged by the torque value in the stirring system 112 and the stirring pressure value of the hydraulic system, which can be calibrated in the previous stage as A1, A2, …, An, different levels. Then, the speed and stroke of the piston 122 in the pumping system are set by the control system 150. When the stroke is shortened, the movement speed of the piston can be increased to ensure the displacement of the pumping system of the pump truck. The self-adaptation of the control system 150 can ensure that there is no air pumping in the working process of the pump truck to cause shaking of the boom and high oil consumption.

[0090] In summary, the embodiment of the present application can effectively reduce the shaking of the boom in the pumping process, reduce a series of problems caused by the shaking of the boom, effectively improve the service life of the boom and the boom cylinder, improve the discharge continuity in the pumping process, effectively reduce the energy consumption of the equipment, and achieve the effect of saving oil.

[0091] The embodiment of the seventh aspect of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the pumping method of any one of the embodiments of the first aspect, and the specific implementation manners and technical effects are similar, which will not be described here.

[0092] The embodiment of the eighth aspect of the present application provides a computer program, which comprises steps of the pumping method of any one of the embodiments of the first aspect when the computer program is executed by a processor, and the specific implementation manners and technical effects are similar, which will not be described here.

[0093] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all described as a series of action combinations, but those skilled in the art should know that the present application is not limited to the order of the actions described, because according to the present application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0094] It should be further noted that, although each step in the flowchart is displayed in sequence according to the arrow, these steps are not necessarily executed in sequence according to the order of the arrow. Unless otherwise stated herein, the execution of these steps has no strict order limitation, and these steps can be executed in other order. Moreover, at least part of the steps in the flowchart can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily sequential, but can be executed in rotation or alternation with other steps or sub-steps or stages of other steps.

[0095] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments. The technical features of the above embodiments can be combined arbitrarily, and in order to make the description brief, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present application.

[0096] In the embodiments according to the present application, the terms "first", "second", "third" are only used for the purpose of description, and cannot be understood as indicating or implying relative importance; the term "multiple" refers to two or more than two, unless otherwise explicitly limited. The terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, "connecting" can be fixed connection, or detachable connection, or integral connection; "connecting" can be direct connection, or indirect connection through intermediate medium. For those skilled in the art, the specific meanings of the above terms in the embodiments according to the present application can be understood according to the specific circumstances.

[0097] In the description of embodiments according to the application, it needs to be understood that the terms "upper", "lower", "left", "right", "front", "back", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments according to the application and simplifying the description, and do not indicate or imply that the devices or units referred to must have a particular direction, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments according to the application.

[0098] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "a specific embodiment", 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 according to the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0099] The above is only the preferred embodiment according to the present application, and is not intended to limit the embodiments according to the present application. The embodiments according to the present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the embodiments according to the present application shall be included in the protection scope of the embodiments according to the present application.

Claims

1. A pumping method, characterized by, The method comprises the following steps: establishing a correspondence between stirring data and pumping control strategies; acquiring stirring data during rotation of stirring blades in a hopper, and matching a pumping control strategy corresponding to the stirring data according to the correspondence to control a pumping system to pump.

2. The pumping method of claim 1, wherein, The acquiring stirring data during rotation of stirring blades in a hopper, and matching a pumping control strategy corresponding to the stirring data according to the correspondence to control a pumping system to pump comprises: acquiring a torque value during rotation of stirring blades in a hopper; matching a preset torque value according to the torque value, and controlling a speed and a stroke of a piston in a pumping system according to a pumping control strategy corresponding to the preset torque value.

3. The pumping method of claim 2, wherein, The establishing a correspondence between stirring data and pumping control strategies comprises: acquiring stirring data and an optimal pumping control strategy corresponding to the stirring data; corresponding different concretes to different stirring data, and corresponding different stirring data to different optimal pumping control strategies.

4. The pumping method of claim 3, wherein, The corresponding different concretes to different stirring data, and corresponding different stirring data to different optimal pumping control strategies comprises: grading concrete quality according to torque values in stirring systems corresponding to different concretes to obtain multiple concrete quality grades; matching different concrete quality grades to different piston speeds and strokes.

5. The pumping method of claim 2, wherein, The matching a preset torque value according to the torque value comprises: judging whether the torque value is within a preset torque value range; if the torque value is within the preset torque value range, matching the torque value to a preset torque value.

6. The pumping method of claim 5, wherein, The controlling a speed and a stroke of a piston in a pumping system according to a pumping control strategy corresponding to the preset torque value comprises: when the preset torque value is a first torque value, controlling a speed of the piston in the pumping system to be a first speed, and controlling a stroke of the piston to be a first stroke; or when the preset torque value is a second torque value, controlling a speed of the piston in the pumping system to be a second speed, and controlling a stroke of the piston to be a second stroke; or when the preset torque value is a third torque value, controlling a speed of the piston in the pumping system to be a third speed, and controlling a stroke of the piston to be a third stroke.

7. The pumping method according to any one of claims 2 to 6, characterized in that, The acquiring a torque value during rotation of stirring blades in a hopper comprises: acquiring a torque value during rotation of stirring blades in a hopper through a torque sensor.

8. A pumping device characterized by, The method comprises the following steps: a hopper (110) provided with a stirring system (112), wherein the stirring system (112) comprises stirring blades (114); a conveying cylinder (120) connected to the hopper (110), wherein the conveying cylinder (120) is provided with a piston (122); a torque sensor (130) for acquiring a torque value in real time during rotation of the stirring blades (114); a control system (150) for grading concrete quality according to the torque value, and controlling a speed and a stroke of the piston (122) according to a concrete quality grade.

9. A pumping system characterized by, The method comprises the following steps: a matching module (220) for establishing a correspondence between stirring data and pumping control strategies; A control module (230) is configured to acquire stirring data of the stirring blade in the hopper during rotation, and match a corresponding pumping control strategy of the stirring data according to the corresponding relationship to control the pumping system to pump.

10. A pumping system characterized by, The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions.

11. A readable storage medium, on which a program or instructions are stored, characterized in that, The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions.

12. A working machine, characterized in that The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions.

13. A computer program product, characterised in that, The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions.

14. A computer program, characterized in that, The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium comprising a computer program product, wherein the computer program product comprises computer program instructions. The application further provides a storage medium

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