Torpedo tank-based bridge tower concrete pouring system and control method

Abstract

The application provides a kind of based on the bridge tower concrete pouring system and control method of torpedo tank, it includes head-to-tail circulating conveying track, multiple torpedo tank conveying systems are arranged on conveying track, and torpedo tank conveying system reciprocates along conveying track;One position of conveying track is close to concrete mixing device, for making torpedo tank conveying system receive concrete;Another position of conveying track passes through unloading tower;Hoisting bin is arranged in unloading tower, hoisting bin is used to receive the concrete of torpedo tank conveying system, and moves to unloading tower outside for tower crane to be hoisted to bin face and be poured.The application can be integrated organically by conveying track, unloading tower, hoisting bin and tower crane, and can adapt to pouring construction under complex pouring environment.Using head-to-tail circulating conveying track, multiple torpedo tank conveying systems can be transported simultaneously using conveying track, which greatly improves construction efficiency.

Description

Technical Field

[0001] This invention relates to the field of bridge concrete pouring construction, and in particular to a bridge tower concrete pouring system and control method based on a torpedo pot. Background Technology

[0002] In recent years, rapid economic development has increased the demand for infrastructure. With increasingly strained transportation resources, the construction of ultra-high and long-span bridges in my country is booming, showing a trend towards multi-functional integration and increasingly larger spans. Most ultra-high and long-span bridges utilize concrete towers exceeding 200 meters in height and concrete beam bridges with spans exceeding 300 meters. Currently, concrete bridge towers are mostly constructed using in-situ construction methods, facing challenges such as harsh high-altitude construction environments, high construction risks, and difficulties in ensuring construction quality. In terms of construction technology, they are characterized by numerous work procedures, high labor intensity, and low levels of integration. How to improve the construction quality and efficiency of ultra-high concrete bridge towers, minimize labor input, reduce construction costs, increase labor productivity, and reduce construction safety risks is a major issue that urgently needs to be addressed. It is imperative to transform and upgrade the current construction methods that mainly rely on manual pouring, and change this outdated situation. Traditional cast-in-place concrete pouring for bridge towers uses trailer pumps, which presents several problems: firstly, the concrete temperature is uncontrollable; secondly, the concrete undergoes long-distance friction and is prone to segregation; and thirdly, pipe blockage is common during pumping, leading to difficult, risky, and time-consuming high-altitude repairs, severely impacting overall construction efficiency. Torpedo-type feeders are typically used in precast yards and have no precedent for use in cast-in-place construction. Torpedo-type feeders enable intelligent and automated transportation, reducing labor costs, providing controllable cycle time, and effectively minimizing the transportation time from the batching plant to the constant-temperature mixing hopper after each discharge, thus reducing the impact of transportation time on concrete performance.

[0003] Chinese patent document CN 111923209 A describes an intelligent production system and method for bridge beams, including a scheme for transporting concrete using torpedo canisters. However, this scheme is only suitable for ground-based construction. Furthermore, the pouring process still relies heavily on manual control. CN 217345989 U describes an automated pouring system for precast bridge concrete placing booms, also including a scheme for supplying material using torpedo canisters and a method for controlling the displacement of the torpedo canisters using displacement sensors. However, this scheme still suffers from low control precision and difficulty adapting to more complex pouring scenarios. For example, it is unsuitable for pouring tall tower columns, and when multiple torpedo canister structures are involved, the positional accuracy of each canister is difficult to ensure, increasing the difficulty of automatic control or requiring more sensors. This further increases the difficulty of automatic control and significantly reduces the tolerance for errors. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a bridge tower concrete pouring system and inspection method based on torpedo canisters, which enables bridge tower concrete pouring construction in an industrialized assembly line manner, achieves higher precision automatic control of pouring with fewer sensors, and further improves the efficiency of pouring construction and ensures construction quality through intelligent planning.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is: a bridge tower concrete pouring system based on torpedo canisters, which includes a conveying track with a front and rear loop, and multiple torpedo canister conveying systems are provided on the conveying track, and the torpedo canister conveying systems reciprocate along the conveying track.

[0006] One location of the conveyor track is near the concrete mixing unit, used to allow the torpedo tank conveying system to receive the concrete; another location of the conveyor track passes through the unloading tower.

[0007] The unloading tower is equipped with a hoisting silo, which is used to receive concrete from the torpedo canister conveying system and move it outside the unloading tower for the tower crane to lift it to the silo surface for pouring.

[0008] In a preferred embodiment, the conveying track is a suspended track, and the torpedo tank conveying system is suspended below the conveying track to facilitate concrete unloading.

[0009] In a preferred embodiment, the torpedo can conveying system is equipped with a walking drive device for driving the torpedo can conveying system to move along the conveying track;

[0010] The tank body is mounted on a tank support in a manner that allows it to rotate along a horizontal axis. The tank support is connected to the suspension support of the travel drive device through multiple suspension rods. Buffer springs are installed on the suspension rods and are located below the tank support to buffer the vibrations experienced by the tank body.

[0011] In a preferred embodiment, the walking drive device comprises at least two sets, located on two tracks of the conveying track, which is an "I"-shaped track. The walking drive device is equipped with a suspension bracket, and the driving wheel and the driven wheel are rotatably mounted opposite each other on the suspension bracket. The driving wheel and the driven wheel are equipped with roller surfaces with inclined surfaces, and the roller surfaces are in contact with the bottom upper surface of the "I"-shaped track. A rotatable drive wheel is also provided on the suspension bracket. The outer edge of the driving wheel projecting outside the conveying track is provided with teeth, and the outer edge of the drive wheel is provided with teeth. The driving wheel and the drive wheel are connected by tooth meshing. The torpedo can travel motor is fixed on the suspension bracket and is connected to the drive wheel to drive the driving wheel to rotate.

[0012] The walking drive unit is also equipped with a torpedo can position coding sensor, which is used to provide feedback on the ID code of the torpedo can delivery system. This ID code is unique and is used to provide feedback on the arrival position.

[0013] In a preferred embodiment, each set of walking drive devices has two drive wheels, which are located on both sides of the drive wheel. When the drive wheel engages with one of the drive wheels, it disengages from the other drive wheel.

[0014] Four horizontal adjustment slots are provided on the suspension bracket. The torpedo can travel motor is connected to the adjustment slots through motor mounting bolts. When the motor mounting bolts are located at both ends of the adjustment slots, the drive wheel is engaged with one of the two drive wheels respectively.

[0015] In the preferred embodiment, the tank body and the tank body support are rotatably connected, the stirring shaft passes through the rotatable connection between the tank body and the tank body support, the rotation axis of the tank body is coaxial with the rotation axis of the stirring shaft, the stirring shaft is horizontally arranged, the stirring motor is connected to the stirring shaft and drives the stirring shaft to rotate, and stirring blades are provided on the stirring shaft located inside the tank body;

[0016] The tank support is also equipped with a corner fixing and detection device. The corner fixing and detection device is equipped with a sensor to detect the corner of the tank. The corner fixing and detection device is also equipped with a telescopic push rod to fix the corner of the tank by telescopic movement.

[0017] In a preferred embodiment, the top of the unloading tower support is connected to the conveying track, the bottom of the unloading tower support is provided with the unloading tower track, the unloading tower track extends beyond the unloading tower support, the hoisting bin is installed on the unloading tower track, the hoisting bin detection device is provided on the unloading tower support, and the hoisting bin is provided with a corresponding hoisting bin sensor.

[0018] The structure of the hoisting hopper is as follows: multiple hoppers are fixedly connected to the hoisting hopper support, the hoisting hopper support is equipped with lifting lugs for hoisting, the bottom of the hoppers is equipped with unloading gates, and wheel boxes for traveling along the unloading tower track are located at the bottom of the hoisting hopper support.

[0019] In a preferred embodiment, a torpedo can reading sensor is installed on the conveying track near the concrete mixing device. When the torpedo can conveying system is located at this position, the concrete mixing device conveys concrete to the torpedo can conveying system.

[0020] A control method for a bridge tower concrete pouring system based on a torpedo pot, as described above, includes the following steps:

[0021] S1. The industrial control computer reads the pouring plan of the bridge tower;

[0022] S2. The industrial control computer calculates the pouring progress;

[0023] S3. The industrial control computer controls the mixing plan of the concrete mixing device in advance;

[0024] S4. The torpedo tank conveying system travels to the concrete mixing plant to receive concrete;

[0025] S5. After receiving the material, the torpedo canister conveying system moves to the unloading tower to unload the concrete into the hopper of the hoisting bin;

[0026] S6. After the hopper is full, the hoisting bin is moved out of the unloading tower;

[0027] S7. The tower crane lifts and hoists the material from the silo to the pouring surface for unloading, and feeds back the pouring data to the industrial control computer.

[0028] The above steps enable automatic control of bridge tower concrete pouring.

[0029] In a preferred embodiment, a torpedo can position coding sensor is provided on the torpedo can conveying system. The torpedo can position coding sensor includes an iron block with a convex and concave structure. The convex and concave structure constitutes ID coding information. The torpedo can position coding sensor can simultaneously realize positioning and transmit ID coding data of the torpedo can conveying system.

[0030] Torpedo can reading sensors are installed on the conveying track near the concrete mixing device and the unloading tower. The torpedo can reading sensors are Hall sensors.

[0031] The unloading tower is equipped with a hoisting bin detection device, and the hoisting bin is equipped with a hoisting bin sensor. The hoisting bin sensor includes an iron block with a convex and concave structure, and the convex and concave structure constitutes ID code information. The hoisting bin detection device adopts a Hall sensor.

[0032] The hoisting silo detection device, torpedo can reading sensor, concrete mixing device, torpedo can conveying system, hoisting silo and tower crane are connected to the industrial control computer;

[0033] In step S1, the bridge tower refers to the box girder and tower column of the bridge, and the pouring plan is the concrete pouring location, pouring volume and pouring time schedule.

[0034] In step S2, the pouring progress is based on the pouring volume of each pouring position as the preset value. The product of the number of times the tower crane lifts the hopper and the lifting capacity is used as the single lifting volume for accumulation. The accumulated value is compared with the preset value, and the accumulated increase in time progress is compared with the pouring time progress plan.

[0035] In step S3, the industrial control computer pre-reduces the mixing production time of the concrete mixing unit, the conveying time of the torpedo can conveying system, the material receiving time of the hoisting bin, the hoisting waiting time of the hoisting bin, and the lifting time of the tower crane according to the pouring plan, thereby controlling the production of the concrete mixing unit in advance.

[0036] The hoisting waiting time needs to be controlled to a minimum.

[0037] In step S4, the torpedo tank reading sensor near the concrete mixing device reads that the torpedo tank conveying system has arrived. The concrete mixing device unloads a predetermined amount of concrete into the torpedo tank conveying system. A liquid level sensor is installed on the conveying track above the tank opening to provide feedback on the height of the received concrete.

[0038] In step S5, the torpedo can read the sensor of the unloading tower to detect the arrival of the torpedo can conveying system. The industrial control computer controls the torpedo can conveying system to unload the material and adds the volume of transported concrete to the hoisting bin. The difference between the volume and the preset volume of the hoisting bin is calculated until the remainder of the difference is less than the volume of a single torpedo can conveying system, at which point the hoisting bin is considered full.

[0039] In step S7, after the pouring is completed, the industrial control computer will accumulate the pouring volume at the pouring location.

[0040] This invention provides a bridge tower concrete pouring system and control method based on torpedo canisters. By organically integrating the conveying track, unloading tower, hoisting hopper, and tower crane, it can adapt to pouring construction in complex environments. The use of a front-and-back circulating conveying track allows for the simultaneous transport of multiple torpedo canisters, significantly improving construction efficiency. A specially designed walking drive device features a simple and compact structure with significant design redundancy, greatly extending the trouble-free service life of the torpedo canister conveying system. The structure of the torpedo canister reading sensor allows for simultaneous position positioning and data reading with a single sensor, enabling more tasks to be performed by one sensor. Furthermore, the use of Hall effect sensors allows for adaptability to harsh working environments and offers greater applicability compared to optical sensors. Intelligent planning using an industrial control computer, through control based on the pouring plan, allows for precise control of the progress at each work position according to the construction schedule, further improving construction efficiency. Attached Figure Description

[0041] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0042] Figure 1 This is a top view of the overall structure of the present invention.

[0043] Figure 2 This is a side view of the unloading tower and hoisting hopper in this invention.

[0044] Figure 3 This is a top view of the unloading tower and hoisting silo in this invention.

[0045] Figure 4 This is a side view of the hoisting hopper and torpedo can conveying system in this invention.

[0046] Figure 5 This is a front view of the walking drive device in this invention.

[0047] Figure 6 This is a side view of the walking drive device in this invention.

[0048] Figure 7 This is a side view of the torpedo canister conveying system in this invention.

[0049] Figure 8 This is the control flowchart of the present invention.

[0050] In the diagram: Conveying track 1, Turning section 101, Tower crane 2, Lifting bin 3, Hopper 31, Unloading gate 32, Lifting bin support 33, Buffer device 34, Traveling wheel 35, Lifting bin traveling motor 36, Reducer 37, Wheel box 38, Lifting bin sensor 39, Unloading tower 4, Unloading tower support 41, Lifting bin detection device 42, Unloading tower track 43, Second torpedo can reading sensor 44, Torpedo can conveying system 5, Torpedo can traveling motor 501, Drive wheel 502, Driven wheel 503, Suspension... Hanging bracket 504, suspension rod 505, buffer spring 506, tank body 507, tank body support 508, stirring motor 509, stirring reducer 510, corner fixing and detection device 511, stirring blade 512, stirring shaft 513, torpedo tank position coding sensor 514, first drive wheel 5021, second drive wheel 5022, drive wheel 5011, adjustment groove 5012, motor mounting bolt 5013, bridge tower 6, concrete mixing device 7, first torpedo tank reading sensor 71. Detailed Implementation

[0051] Example 1:

[0052] like Figures 1-7 In the present invention, a bridge tower concrete pouring system based on torpedo canisters is provided, comprising a conveying track 1 with a front-to-back circulation, on which multiple torpedo canister conveying systems 5 are provided, and the torpedo canister conveying systems 5 reciprocate along the conveying track 1; at both ends of the conveying track 1, there are turning sections 101 for the torpedo canister conveying systems 5 to change direction and circulate.

[0053] like Figure 1 As shown, one location of the conveying track 1 is close to the concrete mixing device 7 for receiving concrete by the torpedo tank conveying system 5; another location of the conveying track 1 passes through the unloading tower 4.

[0054] like Figure 2 As shown, a hoisting bin 3 is provided in the unloading tower 4. The hoisting bin 3 is used to receive the concrete from the torpedo canister conveying system 5 and move it outside the unloading tower 4 for the tower crane 2 to lift it to the bin surface for pouring.

[0055] Preferred solutions include Figure 5 In this context, the conveying track 1 is a suspended track, and the torpedo tank conveying system 5 is suspended below the conveying track 1 to facilitate concrete unloading.

[0056] Preferred solutions include Figures 4-7 In the process, the torpedo can conveying system 5 is equipped with a walking drive device, which is used to drive the torpedo can conveying system 5 to move along the conveying track 1;

[0057] like Figure 4 , Figure 7 In the process, the tank body 507 is mounted on the tank support 508 in a manner that allows it to rotate along a horizontal axis. The tank support 508 is connected to the suspension support 504 of the travel drive device through multiple suspension rods 505. A buffer spring 506 is provided on the suspension rod 505. The buffer spring 506 is located below the tank support 508 to buffer the vibration of the tank body 507. This solution is very effective when the conveying distance is long, as it prevents water from being released from the concrete due to vibration, thus affecting the fluidity and self-compacting properties of the concrete.

[0058] Preferred solutions include Figure 2 In this configuration, the walking drive device comprises at least two sets. In this state, the other two sets are driven suspension roller devices, located on the two tracks of the conveying track 1, respectively. Figure 5 As shown, the conveying track 1 is an "I"-shaped track. The walking drive device is equipped with a suspension bracket 504. The driving wheel 502 and the driven wheel 503 are rotatably mounted opposite each other on the suspension bracket 504. The driving wheel 502 and the driven wheel 503 are equipped with roller surfaces with inclined surfaces. The roller surfaces are in contact with the bottom upper surface of the "I"-shaped track. A rotatable drive wheel 5011 is also provided on the suspension bracket 504. The outer edge of the driving wheel 502 projected outside the conveying track 1 is provided with teeth. The outer edge of the drive wheel 5011 is provided with teeth. The driving wheel 502 and the drive wheel 5011 are connected by tooth meshing. The torpedo can travel motor 501 is fixed on the suspension bracket 504. The torpedo can travel motor 501 is connected to the drive wheel 5011 to drive the driving wheel 502 to rotate.

[0059] like Figure 4 In the walking drive device, a torpedo can position encoding sensor 514 is also provided to provide the ID code of the torpedo can delivery system 5. This ID code is unique and is used to indicate the reached position. The torpedo can position encoding sensor 514 uses an iron detection block with multiple protruding structures. The spacing or width of the multiple protruding structures is different. When the Hall sensor approaches the detection block, it will acquire high-level and low-level signals of different widths, thus forming the encoding information.

[0060] Preferred solutions include Figure 6 In each set of walking drive devices, there are two drive wheels 502, which are located on both sides of the drive wheel 5011. When the drive wheel 5011 is engaged with one of the drive wheels 502, it is disengaged from the other drive wheel 502.

[0061] like Figure 6 In the process, four horizontal adjustment slots 5012 are provided on the suspension bracket 504. The torpedo tank walking motor 501 is connected to the adjustment slots 5012 through the motor mounting bolts 5013. When the motor mounting bolts 5013 are located at both ends of the adjustment slots 5012, the drive wheel 5011 is engaged with one of the two drive wheels 502 respectively.

[0062] Preferred solutions include Figure 7 In the tank, the tank body 507 is rotatably connected to the tank support 508, and the stirring shaft 513 passes through the rotatable connection between the tank body 507 and the tank support 508. The rotation axis of the tank body 507 is coaxial with the rotation axis of the stirring shaft 513. The stirring shaft 513 is arranged horizontally, and the stirring motor 509 is connected to the stirring shaft 513 and drives the stirring shaft 513 to rotate. The stirring shaft 513 located inside the tank body 507 is provided with stirring blades 512. Preferably, the stirring blades 512 are in contact with the inner wall of the tank body 507 to form a friction transmission structure.

[0063] like Figure 7In this design, a corner fixing and detection device 511 is also provided on the tank support 508. The corner fixing and detection device 511 is equipped with a sensor for detecting the corner of the tank 507. The sensor is a Hall sensor. Multiple iron detection blocks are provided on the side wall of the tank 507, each corresponding to a corner of the tank 507. Since the tank 507 is usually in a top-opening position, this position can be set as the zero position. Then, other detection blocks are detected. For example, the detection blocks corresponding to the downward-facing opening of the tank 507 in the unloading position easily distinguish the unloading position. The signal from the upward-facing detection block is the zero position, while the signals from other detection blocks are the unloading position. More preferably, the surface of the zero-position detection block has multiple protrusions. When the Hall sensor detects, the number of protrusions indicates the zero position. Other detection blocks use different numbers of protrusions. The corner fixing and detection device 511 also includes a telescopic push rod for fixing the corner of the tank 507 by telescopic movement. The telescopic push rod is a hydraulic cylinder, pneumatic cylinder, or electric push rod. When it is necessary to fix the tank 507, the telescopic push rod extends to fix the tank 507, preventing it from rotating. This maintains the tank 507 in the corner position for receiving or unloading materials. This invention does not have an additional mechanism to drive the rotation of the tank 507; instead, it cleverly utilizes the rotation of the stirring blades 512 to drive the rotation of the tank 507. After the tank 507 receives material, due to the long conveying distance, for example, when the concrete is ultra-high performance concrete with low moisture content, there is a risk of solidification during the conveying process. Therefore, continuous stirring is required. The stirring motor 509 drives the stirring shaft 513 to rotate through the stirring reducer 510. The stirring shaft 513 drives the stirring blades 512 to rotate, stirring the concrete inside the tank 507. Due to the friction between the stirring blades 512 and the tank 507, the corner fixing and detection device 511 is also equipped with a telescopic push rod to stop the rotation of the tank 507. When unloading is required, the telescopic push rod retracts, and the stirring blade 512 rotates the tank 507 to the unloading position. The corner fixing and detection device 511 detects the detection block corresponding to this position, and then controls the telescopic push rod to extend again, fixing the position of the tank 507. This process is repeated until unloading is complete, and then the tank 507 returns to its opening facing upwards. At this point, the corner fixing and detection device 511 detects the detection block corresponding to the zero position, and then controls the telescopic push rod to extend again, fixing the position of the tank 507. This solution allows for the mixing and switching of the tank 507's receiving and unloading states to be achieved with a single power unit.

[0064] Preferred solutions include Figure 2In the unloading tower 4, the top of the unloading tower support 41 is connected to the conveying track 1, the bottom of the unloading tower support 41 is provided with an unloading tower track 43, the unloading tower track 43 extends outside the unloading tower support 41, the hoisting bin 3 is installed on the unloading tower track 43, a hoisting bin detection device 42 is provided on the unloading tower support 41, and a corresponding hoisting bin sensor 39 is provided on the hoisting bin 3;

[0065] like Figure 3 , 4 In the middle, the structure of the hoisting bin 3 is as follows: multiple hoppers 31 are fixedly connected to the hoisting bin support 33, the hoisting bin support 33 is provided with lifting lugs for hoisting, the bottom of the hoppers 31 is provided with unloading gates 32, and the bottom of the hoisting bin support 33 is provided with wheel boxes 38 for traveling along the unloading tower track 43.

[0066] Preferred solutions include Figure 1 In the process, a torpedo can reading sensor 71 is installed on the conveying track 1 near the concrete mixing device 7. When the torpedo can conveying system 5 is in this position, the concrete mixing device 7 conveys concrete to the torpedo can conveying system 5.

[0067] Example 2:

[0068] The pouring system of this invention operates using a torpedo canister conveying system 5 + hoisting hopper 3. Specifically, from the concrete mixing device 7 to the hopper lifting point below the tower crane 2, the torpedo canister conveying system 5 transports concrete. From the lifting point below the tower crane to the pouring surface of the bridge tower, the hopper 31 of the hoisting hopper 3 transports concrete. In a preferred embodiment, two unloading towers 4 are provided, i.e., two torpedo canister conveying systems 5 unload at these locations. During automatic control, the second torpedo canister reading sensor 44 of the current unloading tower 4 provides feedback on whether a torpedo canister conveying system 5 is currently unloading at the unloading tower 4, prioritizing the unloading tower 4 located downstream. The torpedo canister conveying system 5 enters the unloading tower 4, and the telescopic push rod in the corner fixing and detection device 511 retracts, causing the canister 507 to tilt and unload. Each unloading operation involves accumulating the unloading volume in the hoisting bin 3. This accumulation process is driven by feedback from the second torpedo canister reading sensor 44, specifically by receiving entry and exit information. Preferably, the unloading operation of the second torpedo canister reading sensor 44 employs open-loop control. Therefore, the accumulation of received material is initiated by the second torpedo canister reading sensor 44 acquiring the entry signal from the torpedo canister conveying system 5, pausing for a certain period, and acquiring the cornering signal from the canister 507. After receiving the material, the unloading volume in the current hoisting bin 3 is then accumulated. After receiving the material, the hoisting bin 3 is removed from the unloading tower 4 and, almost without waiting, is lifted by the tower crane 2 to the pouring surface for direct or paver-based pouring.

[0069] Preferably, the system of the present invention consists of 6 torpedo canister conveying systems 5 + 4 15 cubic meter capacity hoppers 31 + 2 hoisting silos 3 + 1 set of conveying rails 1 + 1 set of concrete mixing device 7 and other auxiliary equipment. The hoppers 31 and the hoisting silo supports 33 of the hoisting silos 3 are separable.

[0070] The support legs of the gantry frame for conveying track 1 are spaced approximately 6 meters apart, forming a circular track. Six torpedo canister conveying systems 5 operate cyclically on the circular conveying track 1, ensuring a consistent feeding cycle. The four hoppers are arranged as follows: hopper 1 is used for pouring at the surface of the pouring silo; hopper 2 is used during tower crane lifting; hopper 3 is used during tower crane descent; and hopper 4 is used for receiving material at the ground unloading tower 4, achieving continuous cyclical pouring operations.

[0071] Example 3:

[0072] like Figure 8 A control method for a bridge tower concrete pouring system based on a torpedo canister, as described above, includes the following steps:

[0073] like Figures 1-7 In the torpedo can conveying system 5, a torpedo can position coding sensor 514 is provided. The torpedo can position coding sensor 514 includes an iron block with a convex and concave structure. The convex and concave structure constitutes ID coding information. The torpedo can position coding sensor 514 can simultaneously realize positioning and transmit ID coding data of torpedo can conveying system 5.

[0074] Torpedo can reading sensors 71 and 44 are installed on the conveying track 1 near the concrete mixing device 7 and the unloading tower 4. The torpedo can reading sensors are Hall sensors.

[0075] The unloading tower 4 is equipped with a hoisting bin detection device 42, and the hoisting bin 3 is equipped with a hoisting bin sensor 39. The hoisting bin sensor 39 includes an iron block with a convex and concave structure, and the convex and concave structure constitutes ID coding information. The hoisting bin detection device 42 adopts a Hall sensor.

[0076] The hoisting hopper detection device 42, torpedo can reading sensors 71 and 44, concrete mixing device 7, torpedo can conveying system 5, hoisting hopper 3 and tower crane 2 are electrically connected to the industrial control computer; preferably, the industrial control computer can be set at the location of the concrete mixing device 7, the location of the unloading tower 4, or an information center for remote control.

[0077] S1. The industrial control computer reads the bridge tower's pouring plan; in this example, the bridge tower includes the cast-in-place box girder and tower column. The pouring plan includes the concrete pouring location, volume, and pouring schedule, and is stored in the current project's BIM system.

[0078] S2. The industrial control computer calculates the pouring progress; preferably, the pouring progress is based on the pouring volume at each pouring location as a preset value, and the product of the number of times the tower crane 2 lifts the hoisting chamber 3 and the hoisting capacity is used as the single hoisting volume for accumulation. The accumulated value is compared with the preset value. When the accumulated value is the same as the preset value, it is determined that the pouring construction is close to completion; the accumulated increase in progress time is compared with the pouring time schedule plan.

[0079] S3. The industrial control computer controls the mixing plan of the concrete mixing device 7 in advance;

[0080] In the preferred embodiment, the industrial control computer pre-reduces the mixing production time of the concrete mixing device 7, the conveying time of the torpedo can conveying system 5, the material receiving time of the hoisting hopper 3, the hoisting waiting time of the hoisting hopper 3, and the lifting time of the tower crane 2 according to the pouring plan, thereby controlling the production of the concrete mixing device 7 in advance.

[0081] The hoisting waiting time needs to be minimized; that is, the hoisting waiting time must be kept as short as possible to reduce the problem of mixing being unable to proceed during the waiting and hoisting process. The hoisting waiting time is determined based on the working progress of tower crane 2. That is, the mixing plan is first constrained by the pouring schedule, and after this constraint is met, the production advance time of concrete mixing unit 7 is calculated by working backward from the working progress of tower crane 2, so as to ensure construction quality while fully utilizing the on-site equipment construction capacity.

[0082] S4. The torpedo canister conveying system 5 travels to the concrete mixing plant 7 to receive concrete. In a preferred embodiment, the first torpedo canister reading sensor 71 near the concrete mixing plant 7 reads the torpedo canister position encoding sensor 514 of the torpedo canister conveying system 5, determining that the torpedo canister conveying system 5 has arrived. Preferably, the first torpedo canister reading sensor 71 is a Hall sensor, and the torpedo canister position encoding sensor 514 is an iron detection block with multiple protruding structures. The spacing or width of the multiple protruding structures are different. When the Hall sensor approaches the detection block, it will acquire high-level and low-level signals of different widths, thus forming encoding information used to identify the torpedo canister conveying system 5. The Hall sensor takes the cutoff signal as the action signal, causing the torpedo canister conveying system 5 to stop. When there are enough torpedo canister conveying systems 5, continuous receiving and unloading can be achieved, greatly improving construction efficiency.

[0083] The concrete mixing device 7 unloads a predetermined amount of concrete into the torpedo tank conveying system 5. A liquid level sensor is installed on the conveying track 1 above the opening of the tank 507 to provide feedback on the height of the received concrete. The liquid level sensor is either a laser liquid level sensor or an ultrasonic liquid level sensor.

[0084] S5. After receiving the material, the torpedo canister conveying system 5 moves to the unloading tower 4 and unloads the concrete into the hopper 31 of the hoisting bin 3.

[0085] In the preferred embodiment, the second torpedo canister reading sensor 44 of the unloading tower 4 detects the arrival of the torpedo canister conveying system 5. The industrial control computer controls the torpedo canister conveying system 5 to unload the concrete and adds the volume of transported concrete to the hoisting bin 3. The difference between the volume and the preset volume of the hoisting bin 3 is calculated until the remainder of the difference is less than the volume of a single torpedo canister conveying system 5, at which point the hoisting bin 3 is considered full. The second torpedo canister reading sensor 44 of the unloading tower 4 is a Hall sensor.

[0086] S6. After the hopper 31 is full, the hoisting bin 3 is moved out of the unloading tower 4;

[0087] S7. The tower crane lifts and hoists the material from silo 3 to the pouring surface for unloading, and feeds back the pouring data to the industrial control computer.

[0088] The above steps enable automatic control of bridge tower concrete pouring.

[0089] In step S7, after the pouring is completed, the industrial control computer will accumulate the pouring volume at the pouring location.

[0090] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The embodiments and features described in these embodiments can be arbitrarily combined without conflict. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A bridge tower concrete pouring system based on a torpedo canister, characterized in that: It includes a conveyor track (1) that is a loop at both ends, and multiple torpedo canister conveyor systems (5) are provided on the conveyor track (1). The torpedo canister conveyor systems (5) reciprocate along the conveyor track (1). One location of the conveying track (1) is close to the concrete mixing unit (7) for receiving concrete by the torpedo tank conveying system (5); the other location of the conveying track (1) passes through the unloading tower (4). A hoisting bin (3) is provided in the unloading tower (4). The hoisting bin (3) is used to receive the concrete from the torpedo can conveying system (5) and move it outside the unloading tower (4) for the tower crane (2) to hoist it to the bin surface for pouring. In the unloading tower (4), the top of the unloading tower support (41) is connected to the conveying track (1), the bottom of the unloading tower support (41) is provided with an unloading tower track (43), the unloading tower track (43) extends outside the unloading tower support (41), the hoisting bin (3) is installed on the unloading tower track (43), a hoisting bin detection device (42) is provided on the unloading tower support (41), and a corresponding hoisting bin sensor (39) is provided on the hoisting bin (3). The torpedo can conveying system (5) is equipped with a walking drive device to drive the torpedo can conveying system (5) to walk along the conveying track (1); The aforementioned walking drive device comprises at least two sets, located on two tracks of the conveying track (1), which is an "I"-shaped track. The walking drive device is equipped with a suspension bracket (504). The driving wheel (502) and the driven wheel (503) are rotatably mounted opposite each other on the suspension bracket (504). The driving wheel (502) and the driven wheel (503) are equipped with roller surfaces with inclined surfaces, which are in contact with the bottom upper surface of the "I"-shaped track. The drive wheel (5011) is also provided on the drive wheel (502). The drive wheel (502) is provided with teeth on the outer edge of the projection outside the conveying track (1). The drive wheel (5011) is provided with teeth on the outer edge of the drive wheel (502). The drive wheel (502) and the drive wheel (5011) are connected by tooth meshing. The torpedo can travel motor (501) is fixed on the suspension bracket (504). The torpedo can travel motor (501) is connected to the drive wheel (5011) to drive the drive wheel (502) to rotate. The walking drive unit is also equipped with a torpedo can position coding sensor (514) for feeding back the ID code of the torpedo can delivery system (5). The ID code is unique and is used to feed back the position reached. The tank body (507) is rotatably connected to the tank body support (508). The stirring shaft (513) passes through the rotatable connection between the tank body (507) and the tank body support (508). The rotation axis of the tank body (507) is coaxial with the rotation axis of the stirring shaft (513). The stirring shaft (513) is arranged horizontally. The stirring motor (509) is connected to the stirring shaft (513) and drives the stirring shaft (513) to rotate. The stirring shaft (513) located inside the tank body (507) is provided with stirring blades (512). An angle fixing and detection device (511) is also provided on the tank support (508). The angle fixing and detection device (511) is equipped with a sensor for detecting the angle of the tank (507). The angle fixing and detection device (511) is also equipped with a telescopic push rod for fixing the angle of the tank (507) by telescopic movement. The structure of the hoisting bin (3) is as follows: multiple hoppers (31) are fixedly connected to the hoisting bin support (33), the hoisting bin support (33) is provided with lifting lugs for hoisting, the bottom of the hopper (31) is provided with a discharge gate (32), and the bottom of the hoisting bin support (33) is provided with a wheel box (38) for traveling along the unloading tower track (43).

2. The bridge tower concrete pouring system based on torpedo canisters according to claim 1, characterized in that: The conveying track (1) is a suspended track, and the torpedo tank conveying system (5) is suspended below the conveying track (1) to facilitate concrete unloading.

3. The bridge tower concrete pouring system based on torpedo canisters according to claim 2, characterized in that: The tank (507) is mounted on the tank support (508) in a manner that allows it to rotate along a horizontal axis. The tank support (508) is connected to the suspension support (504) of the walking drive device via multiple suspension rods (505). A buffer spring (506) is provided on the suspension rod (505). The buffer spring (506) is located below the tank support (508) to buffer the vibrations experienced by the tank (507).

4. The bridge tower concrete pouring system based on torpedo canisters according to claim 1, characterized in that: in In each set of walking drive devices, there are two drive wheels (502). The two drive wheels (502) are located on both sides of the drive wheel (5011). When the drive wheel (5011) is engaged with one of the drive wheels (502), it is disengaged from the other drive wheel (502). Four horizontal adjustment slots (5012) are provided on the suspension bracket (504). The torpedo tank walking motor (501) is connected to the adjustment slots (5012) through motor mounting bolts (5013). When the motor mounting bolts (5013) are located at both ends of the adjustment slots (5012), the drive wheel (5011) is engaged with one of the two drive wheels (502).

5. The bridge tower concrete pouring system based on torpedo canisters according to claim 1, characterized in that: in A first torpedo can reading sensor (71) is provided on the conveying track (1) near the concrete mixing device (7). When the torpedo can conveying system (5) is in this position, the concrete mixing device (7) conveys concrete to the torpedo can conveying system (5).

6. A control method for a bridge tower concrete pouring system based on a torpedo pot as described in any one of claims 1 to 5, characterized in that: Includes the following steps: S1. The industrial control computer reads the pouring plan of the bridge tower; S2. The industrial control computer calculates the pouring progress; S3. The industrial control computer controls the mixing plan of the concrete mixing device (7) in advance; S4, Torpedo tank conveying system (5) travels to concrete mixing unit (7) to receive concrete; S5. After receiving the material, the torpedo canister conveying system (5) moves to the unloading tower (4) and unloads the concrete into the hopper (31) of the hoisting bin (3); S6. After the hopper (31) is full, the hoisting bin (3) is moved out of the unloading tower (4); S7. The tower crane lifts the silo (3) to the pouring silo surface for unloading and feeds back the pouring data to the industrial control computer. The above steps enable automatic control of bridge tower concrete pouring.

7. The control method for a bridge tower concrete pouring system based on a torpedo pot, as described in claim 6, is characterized in that: in The torpedo can conveying system (5) is equipped with a torpedo can position coding sensor (514). The torpedo can position coding sensor (514) includes an iron block with a convex and concave structure. The convex and concave structure constitutes ID coding information. The torpedo can position coding sensor (514) simultaneously realizes positioning and transmits the ID coding data of the torpedo can conveying system (5). First and second torpedo can reading sensors (71, 44) are installed on the conveying track (1) near the concrete mixing device (7) and the unloading tower (4). The torpedo can reading sensors are Hall sensors. A hoisting bin detection device (42) is provided in the unloading tower (4), and a hoisting bin sensor (39) is provided in the hoisting bin (3). The hoisting bin sensor (39) includes an iron block with a convex and concave structure. The convex and concave structure constitutes ID coding information. The hoisting bin detection device (42) adopts a Hall sensor. The hoisting bin detection device (42), the first and second torpedo can reading sensors (71, 44), the concrete mixing device (7), the torpedo can conveying system (5), the hoisting bin (3) and the tower crane (2) are connected to the industrial control computer; In step S1, the bridge tower refers to the box girder and tower column of the bridge, and the pouring plan is the concrete pouring location, pouring volume and pouring time schedule. In step S2, the pouring progress is based on the pouring volume of each pouring position as the preset value. The product of the number of times the tower crane (2) lifts the hoisting hopper (3) and the hoisting capacity is used as the single hoisting volume for accumulation. The accumulated value is compared with the preset value, and the accumulated increase in time progress is compared with the pouring time progress plan. In step S3, the industrial control computer pre-reduces the mixing production time of the concrete mixing device (7), the conveying time of the torpedo can conveying system (5), the receiving time of the hoisting bin (3), the hoisting waiting time of the hoisting bin (3), and the lifting time of the tower crane (2) according to the pouring plan, and controls the production of the concrete mixing device (7) in advance. The hoisting waiting time needs to be controlled to a minimum. In step S4, the first torpedo tank reading sensor (71) near the concrete mixing device (7) reads that the torpedo tank conveying system (5) has arrived. The concrete mixing device (7) unloads a predetermined amount of concrete into the torpedo tank conveying system (5). A liquid level sensor is installed on the conveying track (1) above the opening of the tank (507). The height of the received concrete is fed back through the liquid level sensor. In step S5, the second torpedo can read sensor (44) of the unloading tower (4) detects the arrival of the torpedo can conveying system (5). The industrial control computer controls the torpedo can conveying system (5) to unload the material and adds the volume of transported concrete to the hoisting bin (3). The difference between the volume and the preset volume of the hoisting bin (3) is calculated until the remainder of the difference is less than the volume of a single torpedo can conveying system (5), which means that the hoisting bin (3) is full. In step S7, after the pouring is completed, the industrial control computer will accumulate the pouring volume at the pouring location.

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