An automated folding and unscrewing machine tooling and its usage method

Abstract

The present invention discloses an automatic folding and bolt-removing machine tooling and its usage method, which relates to the field of tunnel construction machinery. By modularly assembling the tooling components in the bolt-removing machine tooling, functions of folding, sliding and telescoping are added, and through designing an automatic control system, automatic placement and retraction of the bolt-removing machine tooling are realized, greatly improving the reuse rate and space utilization rate of the bolt-removing machine tooling itself. Its automatic control design reduces unnecessary labor costs during construction and also avoids unnecessary assembly and splicing mistakes by workers. In addition, the dynamic adjustment design of the longitudinal diagonal braces and the transverse diagonal braces, combined with the longitudinally and transversely adjustable functions of the dimensions, on the one hand, can adapt to different construction realities, realizing the dynamic optimization adjustment of the longitudinal diagonal braces and the transverse diagonal braces for different construction actual situations, and on the other hand, improving the safety and stability of the overall structure of the bolt-removing machine tooling.

Description

Technical Field

[0001] The invention relates to the field of tunnel construction machinery, and in particular to an automatic folding screw removing machine tool and a use method thereof. Background Art

[0002] With the accumulation of experience in slurry and earth pressure shield tunneling technology and the increasing understanding of the two types of shield machines, the design concept of multi-mode shields has gradually matured. Among them, the combination of dual-mode shields includes compressed air-open shields, slurry-open shields, earth pressure balance-open shields, slurry-earth pressure balance shields, etc. The dual-mode shield has strong stratum applicability. When tunneling in long-distance composite strata, different modes are used in a timely manner for different strata, and the corresponding slag discharge methods, tunneling parameters, etc. are matched to achieve the optimal match between strata and equipment during tunneling construction, and it has good adaptability to composite strata. In addition, the safety risk of dual-mode shields is also lower. Different strata correspond to corresponding shield modes, which can effectively avoid the safety risks of TBM tunneling in soft rock or soft upper and hard lower strata for long distances.

[0003] For the mode conversion of the earth pressure balance (EPB)-single shield (TBM) dual-mode shield machine, one of the important steps is to remove and install the slag discharge equipment. For the earth pressure balance (EPB) shield, the slag discharge equipment is the central screw conveyor, and for the single shield (TBM) shield, the slag discharge equipment involves both screw conveyors and central belt conveyors depending on the type of slag discharge. During the mode conversion process, the original slag discharge equipment needs to be removed and the new slag discharge device needs to be reinstalled. In the actual construction process, this link uses a lot of screw removal machine tooling.

[0004] Traditional bolt remover tooling uses welding to connect the main components. During the construction process in the hole, the workers' technical requirements are high and the actual operation is difficult, and the welding quality is difficult to guarantee. Since the bolt remover tooling uses welding, it is also difficult to dismantle and cannot be put into use in a cycle. In addition, the diagonal brace plays a major role in the stability of the bolt remover tooling. The support position and angle design of the diagonal brace largely determine the safety of the bolt remover tooling during the construction process. The diagonal brace of the traditional bolt remover tooling is mostly fixed and non-adjustable based on experience, and cannot be dynamically adjusted for different lifting loads. Summary of the invention

[0005] In view of the above problems, the present invention provides an automated folding screw removing machine tool and a method of using the same, which solves the problems of the existing welded screw removing machine tool that the tool cannot be recycled and is inconvenient to assemble.

[0006] In order to achieve the above-mentioned object of the invention, the technical solution specifically adopted by the present invention is as follows:

[0007] An automated folding and unbolting machine tooling is provided, which includes an automatic control system and two bottom rail beams arranged horizontally at intervals. A main column and a sliding column are arranged at intervals on each bottom rail beam;

[0008] The bottom of each main column is fixedly connected to the bottom rail beam, and each sliding column is slidably connected to the bottom rail beam;

[0009] A top longitudinal beam is arranged at the top of each bottom rail beam. The top of the main column is fixedly connected to one side of the top longitudinal beam, and the top of the sliding column is slidably connected to the other side of the top longitudinal beam;

[0010] Two cross beams are arranged at intervals between the two top longitudinal beams;

[0011] A plurality of longitudinal diagonal braces are arranged between the main column and the bottom rail beam; A plurality of transverse diagonal braces are arranged between the cross beam and the main column and between the cross beam and the sliding column;

[0012] Each bottom rail beam and top longitudinal beam adopt a folding design; Each cross beam adopts a sliding telescopic design;

[0013] The automatic control system is used to adjust the position of the sliding column, the overall length of the cross beam, the connection position and its own length of each longitudinal diagonal brace and transverse diagonal brace.

[0014] The basic principle of the present invention is that the unbolting machine tooling adopts a folding design for each bottom rail beam and top longitudinal beam; Each cross beam adopts a sliding telescopic design, and the automatic recycling and placement of the unbolting machine tooling are realized through the automatic control system, solving the problems of non-recyclability and inconvenient assembly existing in the existing welded unbolting machine tooling; The positions of the longitudinal diagonal braces and transverse diagonal braces are adjustable, and the dynamic optimization adjustment of the braces for different construction actual situations can be realized through the automatic control system, improving the overall safety and stability of the tooling.

[0015] Further, as a specific setting method for the sliding connection between the bottom and top of the sliding column and the bottom rail beam and the top longitudinal beam respectively, a column sleeve is arranged at the bottom and top of each sliding column, and the two column sleeves are slidably connected to the bottom rail beam and the top longitudinal beam respectively; A plurality of bolt holes matching the column sleeves are arranged on the bottom rail beam along its own length direction.

[0016] Further, as a specific scheme for the folding design of each bottom rail beam and top longitudinal beam, each bottom rail beam and top longitudinal beam include multiple beam segments spliced with each other. Adjacent two beam segments are respectively connected with a connecting plate and a connecting plate seat, and the connecting plate is inserted into the installation groove of the connecting plate seat and fixedly connected by bolts;

[0017] Local reinforcing plates are bolted to the top and bottom of adjacent two beam segments.

[0018] It realizes that each bottom rail beam and top longitudinal beam are convenient for storage and folding, optimizing the space utilization rate of the entire bolt - removing machine tooling.

[0019] Further, as a specific solution for the sliding telescopic design of the cross - beam, each cross - beam includes a hollow spliced box girder and a hollow inserted box girder. The hollow inserted box girder is slidably arranged inside the hollow spliced box girder. A plurality of bolt holes are arranged on both the hollow spliced box girder and the hollow inserted box girder along their own lengths. The relative positions between the hollow spliced box girder and the hollow inserted box girder are fixed by inserting bolts into the bolt holes.

[0020] Further, each longitudinal diagonal brace and transverse diagonal brace includes a pneumatic rod. Hinged ends are respectively arranged at both ends of the pneumatic rod, and each hinged end is hinged with a diagonal brace sleeve.

[0021] Further, a plurality of sensors are arranged inside each column sleeve and diagonal brace sleeve. Each column sleeve and diagonal brace sleeve is matched with a transmission. The transmission is used to drive the column sleeve and diagonal brace sleeve to move linearly. Both the sensors and the transmissions are electrically connected to the automatic control system.

[0022] The plurality of sensors are used to monitor the internal forces of the main structure part of the tooling body contacted by the column sleeve and the diagonal brace sleeve, and upload them to the automatic control system for further fuzzy comprehensive evaluation and gradient descent algorithm operation, dynamically adjusting the sliding positions of the column sleeve and the diagonal brace sleeve.

[0023] Further, the automatic control system includes a controller, a pneumatic pumping device and a push - rod device electrically connected to the controller. The pneumatic pumping device is used to inflate the pneumatic rod to change the length of the pneumatic rod itself. The push - rod device is used to push the cross - beam to change the overall length of the cross - beam. Both the sensors and the transmissions are electrically connected to the controller.

[0024] The present invention also provides a method for using an automated folding bolt - removing machine tooling, which includes a method for unfolding and a method for retracting the bolt - removing machine tooling;

[0025] The method for unfolding the bolt - removing machine tooling includes the steps:

[0026] S1. Change the folded bottom rail beam and top longitudinal beam from the bent and contracted state to the unfolded state, and the multi - section beam segments of the bottom rail beam and the top longitudinal beam are connected and flattened in the same straight - line position. The connecting plate is inserted into the installation groove of the connecting plate seat and fixedly connected by bolts, and the partial reinforcing plate is installed on the top and bottom of adjacent two - section beam segments by bolts;

[0027] S2. The automatic control system starts the transmission on the column sleeve to make the sliding column slide automatically. The sliding column slides from the contracted state gathered beside the main column to the unfolded position. The automatic sliding of the sliding column will drive the cross - beam at the top to follow. When the sliding column slides to the unfolded position, fix the column sleeve at the bottom of the sliding column to the bottom rail beam;

[0028] S3. Automatically expand the longitudinal diagonal braces, fix the position of one end of the longitudinal diagonal braces, start the transmission on the diagonal brace sleeve by the automatic control system to make the other end of the longitudinal diagonal braces slide freely. The longitudinal diagonal braces will change from the contracted state gathered near the main column to the diagonal support state. After the lifting load is applied, the automatic control system dynamically adjusts the sliding position of the other end of the longitudinal diagonal braces through the fuzzy comprehensive evaluation of the tooling components and the gradient descent algorithm, thereby adjusting the changes in the length and support angle of the longitudinal diagonal braces, and optimizing the force stability and safety of the tooling. After the sliding position of the longitudinal diagonal braces is confirmed, it is fixed with bolts;

[0029] S4. The automatic control system controls the push rod device to push the cross beam, the cross beam automatically extends, and the hollow inserted box girder automatically slides in the unfolding direction. It unfolds to the preset transverse dimension position, and bolts are connected to the overlapping position of the box girders;

[0030] S5. Automatically expand the transverse diagonal braces, fix the position of one end of the transverse diagonal braces, and the transmission on the diagonal brace sleeve of the automatic control system makes the other end of the transverse diagonal braces slide freely. The transverse diagonal braces will change from the contracted state gathered near the main column to the diagonal support state. The initial sliding position of the transverse diagonal braces is set manually according to experience. After the lifting load is applied, the automatic control system will dynamically adjust the sliding position of the other end of the transverse diagonal braces through the gradient descent algorithm for the internal force combination of the main components, thereby adjusting the changes in the transverse length and support angle, and optimizing the force stability and safety of the tooling. After the sliding position of the transverse diagonal braces is confirmed, it is fixed with bolts;

[0031] The steps of the recovery method of the bolt removing machine tooling are opposite to those of the unfolding method of the bolt removing machine tooling, and at the same time, the dynamic optimization processes of the longitudinal diagonal braces and the transverse diagonal braces in step S3 and step S5 are omitted.

[0032] Further, in step S3 and step 5, the method for optimizing the positions and support angles of the longitudinal and transverse diagonal braces is as follows:

[0033] Step A. Divide the tooling components. The tooling components include sliding columns, main columns, cross beams, and longitudinal diagonal braces. Sensors in the diagonal brace sleeves at the ends of the longitudinal and transverse diagonal braces monitor the stress of the tooling components in real time and upload it to the control system;

[0034] Step B. Conduct a safety assessment of each tooling component through the fuzzy comprehensive evaluation method, establish a function model for the safety assessment results, integrate and optimize the function using the gradient descent algorithm. On the premise of ensuring that each tooling component is not damaged, optimize the overall force mode of the tooling by dynamically adjusting the lengths and support angles of the longitudinal and transverse diagonal braces;

[0035] Step C: After determining the support angles and positions of the longitudinal, transverse, and diagonal braces, bolt-fix the brace sleeves on the longitudinal and transverse diagonal braces, and put the bolt disassembling machine tooling into use.

[0036] Further, the optimization of the overall force-bearing mode of the tooling in Step B includes:

[0037] Step B1: Establish the fuzzy relation matrix R of each tooling component 1j , R 1j includes the main column fuzzy relation matrix R 11 , the sliding column fuzzy relation matrix R 12 , the crossbeam fuzzy relation matrix R 13 , the top longitudinal beam fuzzy relation matrix R 14 , and the bottom rail beam fuzzy relation matrix R 15 ;

[0038] Step B2: Calculate the weight vector W1 of the tooling components and the weight vector W2 of each sub-item for component identification through the geometric mean method;

[0039] Step B3: The evaluation result B of the component can be obtained by synthesizing W2 and R 1j ; From the component evaluation structure B j , the secondary evaluation relation matrix R is obtained, R = [B1 B2 B3 B4 B5]; j

[0040] Step B4: Synthesize W1 and R to obtain the fuzzy comprehensive evaluation result B, B = R·W1 = [b1, b2, b3, b4, b5];

[0041] Step B5: Establish a differentiable function f(b1, b2, b3, b4, b5) regarding the fuzzy comprehensive evaluation result B according to the weight vector W2;

[0042] Step B6: Set the step size a of the gradient descent algorithm, and the step size is the moving distance of the longitudinal and transverse diagonal braces; at the same time, set a group of initial values, and the initial values are the internal force evaluation results of the tooling when the longitudinal and transverse diagonal braces are at the initial positions set by experience;

[0043] Step B7: When calculating one gradient, that is, after the moving end of the longitudinal and transverse diagonal braces moves a distance of one step size, the optimization adjustment result of the function f is expressed as f = f - a×Δf(b i ), where Δf(b i ) represents the gradient of the function f, and then update and iterate the calculation and calculate the new gradient again. When the modulus of the calculated vector is less than the preset value set in advance, terminate the loop, and the optimization of the longitudinal and transverse diagonal braces is completed.

[0044] The beneficial effects of the present invention are as follows: The present invention provides an automated folding and screw-removing machine tooling. The tooling components in the screw-removing machine tooling are modularly assembled and designed, with folding, sliding, and telescoping functions added. Through the design of an automatic control system, the automated placement and retraction of the screw-removing machine tooling are achieved, greatly improving the reusability and space utilization rate of the screw-removing machine tooling itself. Its automated control design reduces unnecessary labor costs during construction and also avoids unnecessary assembly and splicing mistakes by workers. In addition, the dynamic adjustment design of the longitudinal diagonal braces and the transverse diagonal braces, combined with the transverse and longitudinal adjustable functions of the dimensions, can, on the one hand, adapt to different construction realities, realizing the dynamic optimization adjustment of the longitudinal diagonal braces and the transverse diagonal braces for different construction actual situations, and on the other hand, improving the safety and stability of the overall structure of the screw-removing machine tooling. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 FIG. is a schematic structural diagram of the placement state of the screw-removing machine tooling.

[0046] Figure 2 FIG. is a schematic structural diagram of the retracted state of the screw-removing machine tooling.

[0047] Figure 3 FIG. is a schematic structural diagram of the bottom rail beam and the top longitudinal beam.

[0048] Figure 4 FIG. is a schematic enlarged partial structural diagram of the screw-removing machine tooling.

[0049] Figure 5 FIG. is a schematic structural diagram of the cross beam.

[0050] Figure 6 FIG. is a schematic structural diagram of the longitudinal diagonal brace and the transverse diagonal brace.

[0051] Figure 7 FIG. is a schematic cross-sectional diagram of the column sleeve and the diagonal brace sleeve.

[0052] Among them, 1. Bottom rail beam; 2. Main column; 3. Sliding column; 4. Top longitudinal beam; 5. Cross beam; 6. Longitudinal diagonal brace; 7. Transverse diagonal brace; 8. Column sleeve; 9. Beam section; 10. Connection plate; 11. Connection plate seat; 12. Local reinforcement plate; 13. Hollow spliced box girder; 14. Hollow inserted box girder; 15. Air rod; 16. Hinge end; 17. Diagonal brace sleeve; 18. Sensor; 19. Transmission. DETAILED DESCRIPTION OF THE INVENTION

[0053] The specific embodiments of the present invention will be described below to facilitate those skilled in the art of the present technology to understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art of the present technology, as long as various changes are within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions created using the concept of the present invention are within the scope of protection.

[0054] As Figure 1 and Figure 2 shown, an automated folding and unscrewing machine tooling provided by the present invention includes an automatic control system and two bottom rail beams 1 arranged horizontally at intervals. On each bottom rail beam 1, a main column 2 and a sliding column 3 are arranged at intervals.

[0055] The bottom of each main column 2 is fixedly connected to the bottom rail beam 1, and each sliding column 3 is slidably connected to the bottom rail beam 1.

[0056] At the top of each bottom rail beam 1, a top longitudinal beam 4 is arranged. The top of the main column 2 is fixedly connected to one side of the top longitudinal beam 4, and the top of the sliding column 3 is slidably connected to the other side of the top longitudinal beam 4.

[0057] In the embodiment, as Figure 4 shown, as a specific setting method for the sliding connection between the bottom and top of the sliding column 3 and the bottom rail beam 1 and the top longitudinal beam 4 respectively, a column sleeve 8 is arranged at the bottom and top of each sliding column 3, and the two column sleeves 8 are slidably connected to the bottom rail beam 1 and the top longitudinal beam 4 respectively; a plurality of bolt holes matching the column sleeve 8 are arranged on the bottom rail beam 1 along its own length direction.

[0058] Two cross beams 5 are arranged at intervals between the two top longitudinal beams 4.

[0059] A plurality of longitudinal braces 6 are arranged between the main column 2 and the bottom rail beam 1; a plurality of transverse braces 7 are arranged between the cross beam 5 and the main column 2 and between the cross beam 5 and the sliding column 3.

[0060] Each bottom rail beam 1 and top longitudinal beam 4 adopt a folding design; in this embodiment, as Figure 3 shown, as a specific scheme for each bottom rail beam 1 and top longitudinal beam 4 to adopt a folding design, each bottom rail beam 1 and top longitudinal beam 4 includes a plurality of beam segments 9 spliced with each other. Adjacent two beam segments 9 are respectively connected with a connecting plate 10 and a connecting plate seat 11. The connecting plate 10 is inserted into the installation groove of the connecting plate seat 11 and fixedly connected by bolts;

[0061] At the top and bottom of adjacent two beam segments 9, a local reinforcement plate 12 is connected by bolts. It realizes that each bottom rail beam 1 and top longitudinal beam 4 are convenient for storage, folding, and optimizes the space utilization rate of the entire unscrewing machine tooling.

[0062] As shown Figure 5 in the figure, each cross beam 5 adopts a sliding telescopic design; as a specific solution for the cross beam 5 to adopt a sliding telescopic design, each cross beam 5 includes a hollow spliced box girder 13 and a hollow inserted box girder 14. The hollow inserted box girder 14 is slidably arranged inside the hollow spliced box girder 13. A plurality of bolt holes are arranged on both the hollow spliced box girder 13 and the hollow inserted box girder 14 along their own lengths. The relative positions between the hollow spliced box girder 13 and the hollow inserted box girder 14 are fixed by inserting bolts into the bolt holes.

[0063] The automatic control system is used to adjust the position of the sliding column 3, the overall length of the cross beam 5, the connection positions and the own lengths of each longitudinal brace 6 and transverse brace 7.

[0064] Specifically, during the unfolding process of the bolt removing machine tooling, the automatic control system controls the two sliding columns 3 to move to the expected positions, and then the worker only needs to fix the column sleeve 8 with bolts.

[0065] The automatic control system controls the hollow inserted box girder 14 to slide in the unfolding direction. After sliding to the expected position, the worker passes bolts through the overlapping parts of the hollow spliced box girder 13 and the hollow inserted box girder 14 to fix the length of the cross beam 5.

[0066] Specifically, as shown Figure 4 and Figure 6 in the figure, each longitudinal brace 6 and transverse brace 7 includes a pneumatic rod 15. Hinged ends 16 are respectively arranged at both ends of the pneumatic rod 15, and each hinged end 16 is hinged with a brace sleeve 17.

[0067] The longitudinal brace 6 and transverse brace 7 are connected to the brace sleeve 17 through hinges, so that the longitudinal brace 6 and transverse brace 7 can freely slide on the matching beam and can also adjust the support angle of the brace. During the unfolding process of the bolt removing machine tooling, the automatic control system will move each longitudinal brace 6 and transverse brace 7 to the expected positions by controlling the free sliding of the brace sleeve 17, and then the worker only needs to fix the brace sleeve 17 with sleeve bolts. When retracting, only the sleeve bolts need to be removed, and the automatic control system will automatically control the sliding contraction of the brace sleeve 17 to maximize the reduction of the tooling size.

[0068] As shown Figure 7 in the figure, a plurality of sensors 18 are arranged inside each column sleeve 8 and brace sleeve 17, and each column sleeve 8 and brace sleeve 17 is matched with a transmission machine 19; the transmission machine 19 is used to drive the column sleeve 8 and brace sleeve 17 to move linearly; the sensors 18 and the transmission machine 19 are both electrically connected to the automatic control system.

[0069] Multiple sensors 18 are used to monitor the internal forces of the main structure part of the tooling contacted by the column sleeve 8 and the diagonal brace sleeve 17, and upload them to the automatic control system for further fuzzy comprehensive evaluation and gradient descent algorithm operation to dynamically adjust the sliding positions of the column sleeve 8 and the diagonal brace sleeve 17.

[0070] Specifically, the automatic control system includes a controller, a pneumatic pumping device and a push rod device electrically connected to the controller; the pneumatic pumping device is used to inflate the air rod 15 to change the length of the air rod 15 itself; the push rod device is used to push the cross beam 5 to change the overall length of the cross beam 5; the sensor 18 and the transmission 19 are both electrically connected to the controller.

[0071] The disassembly screw machine tooling adopts a folding design for each bottom rail beam 1 and the top longitudinal beam 4; each cross beam 5 adopts a sliding telescopic design, and the automatic control system is used to realize the automatic recycling and placement of the disassembly screw machine tooling, so as to maximize the reduction of the tooling size. It solves the problems that the existing welded disassembly screw machine tooling cannot be recycled and is inconvenient to assemble; and the positions of the longitudinal diagonal braces 6 and the transverse diagonal braces 7 are adjustable, and the automatic control system can realize the dynamic optimization adjustment of the diagonal braces according to different construction actual situations, improving the overall safety and stability of the tooling.

[0072] This embodiment also provides a use method of the automatic folding disassembly screw machine tooling, which includes the unfolding method and the retracting method of the disassembly screw machine tooling;

[0073] The unfolding method of the disassembly screw machine tooling includes the steps:

[0074] S1. Change the folded bottom rail beam 1 and the top longitudinal beam 4 from the bent and contracted state to the unfolded state, and the multi-section beam segments 9 of the bottom rail beam 1 and the top longitudinal beam 4 are connected and leveled in the same straight line position; the connecting plate 10 is inserted into the installation groove of the connecting plate seat 11 and fixedly connected by bolts, and the local reinforcement plate 12 is installed on the top and bottom of the adjacent two beam segments 9 by bolts.

[0075] S2. The automatic control system starts the transmission 19 on the column sleeve 8 to make the sliding column 3 automatically slide. The sliding column 3 slides from the contracted state gathered beside the main column 2 to the unfolded position. The automatic sliding of the sliding column 3 will drive the top cross beam 5 to follow. When the sliding column 3 slides to the unfolded position, the column sleeve 8 at the bottom of the sliding column 3 is fixed to the bottom rail beam 1.

[0076] S3. The longitudinal diagonal brace 6 is automatically deployed, and the position of one end of the longitudinal diagonal brace 6 is fixed. The automatic control system starts the transmission 19 on the brace sleeve 17 so that the other end of the longitudinal diagonal brace 6 slides freely. The longitudinal diagonal brace 6 will change from the contracted state gathered near the main column 2 to the diagonal support state. After the lifting load is applied, the automatic control system dynamically adjusts the sliding position of the other end of the longitudinal diagonal brace 6 through the fuzzy comprehensive evaluation of the tooling components and the gradient descent algorithm, thereby adjusting the changes in the length and support angle of the longitudinal diagonal brace 6, and optimizing the force stability and safety of the tooling. After the sliding position of the longitudinal diagonal brace 6 is confirmed, it is fixed with bolts.

[0077] S4. The automatic control system controls the push rod device to push the cross beam 5, the cross beam 5 is automatically extended, and the hollow plug-in box girder 14 slides automatically in the unfolding direction and unfolds to the preset transverse dimension position, and splicing bolts are connected at the overlapping position of the box girders.

[0078] S5. The transverse diagonal brace 7 is automatically deployed, and the position of one end of the transverse diagonal brace 7 is fixed. The automatic control system makes the other end of the transverse diagonal brace 7 slide freely through the transmission 19 on the brace sleeve 17 of the diagonal brace. The transverse diagonal brace 7 will change from the contracted state gathered near the main column 2 to the diagonal support state. The initial sliding position of the transverse diagonal brace 7 is set manually according to experience. After the lifting load is applied, the automatic control system will dynamically adjust the sliding position of the other end of the transverse diagonal brace 7 through the gradient descent algorithm for the internal force combination of the main components, thereby adjusting the changes in the transverse length and support angle, and optimizing the force stability and safety of the tooling. After the sliding position of the transverse diagonal brace 7 is confirmed, it is fixed with bolts.

[0079] The steps of the recovery method of the bolt removing machine tooling are opposite to those of the unfolding method of the bolt removing machine tooling, and at the same time, the dynamic optimization processes of the longitudinal diagonal brace 6 and the transverse diagonal brace 7 in step S3 and step S5 are omitted.

[0080] Further, in step S3 and step 5, the method for optimizing the position and support angle of the longitudinal and transverse diagonal braces 7 is as follows:

[0081] Step A. Divide the tooling components, and the tooling components include the sliding column 3, the main column, the cross beam 5, and the longitudinal diagonal brace 6. The sensors 18 in the end brace sleeves 17 of the longitudinal and transverse diagonal braces 7 monitor the stress of the tooling components in real time and upload it to the control system.

[0082] Step B. Conduct a safety assessment on each tooling component through the fuzzy comprehensive evaluation method, establish a function model for the safety assessment results for integration, and use the gradient descent algorithm to optimize and adjust the function. On the premise of ensuring that each tooling component is not damaged, optimize the overall force mode of the tooling by dynamically adjusting the length and support angle of the longitudinal and transverse diagonal braces 7.

[0083] Step C: After determining the support angles and positions of the longitudinal, transverse, and diagonal braces, bolt-fix the brace sleeves 17 on the longitudinal and transverse diagonal braces 7, and put the disassembly machine tooling into use.

[0084] Further, the optimization of the overall force-bearing mode of the tooling in Step B includes:

[0085] Step B1: Establish the fuzzy relation matrix R of each tooling component 1j , R 1j including the fuzzy relation matrix R 11 of the main column 2, the fuzzy relation matrix R 12 of the sliding column 3, the fuzzy relation matrix R 13 of the cross beam 5, the fuzzy relation matrix R 14 of the top longitudinal beam 4, and the fuzzy relation matrix R 15 of the bottom rail beam 1;

[0086] Step B2: Calculate and obtain the weight vector W1 of the tooling components and the weight vector W2 of each sub-item for component identification through the geometric mean method;

[0087] Step B3: The evaluation result B of the component can be obtained by synthesizing W2 and R 1j ; from the component evaluation structure B j , the secondary evaluation relation matrix R is obtained, R = [B1 B2 B3 B4 B5]; j Step B4: Synthesize W1 and R to obtain the fuzzy comprehensive evaluation result B, B = R·W1 = [b1, b2, b3, b4, b5];

[0088] Step B5: Establish a differentiable function f(b1, b2, b3, b4, b5) regarding the fuzzy comprehensive evaluation result B according to the weight vector W2;

[0089] Step B6: Set the step size a of the gradient descent algorithm, where the step size is the moving distance of the longitudinal and transverse diagonal braces 7; at the same time, set a set of initial values, and the initial values are the internal force evaluation results of the tooling at the initial positions of the longitudinal and transverse diagonal braces 7 set by experience;

[0090] Step B7: When calculating one gradient, that is, when the moving end of the diagonal brace of the longitudinal and transverse diagonal braces 7 moves a distance of one step size, the optimized adjustment result of the function f is expressed as f = f - a×Δf(b

[0091] ), where Δf(b i ) represents the gradient of the function f, and then update and iterate the calculation and calculate the new gradient again. When the modulus of the calculated vector is less than the preset value set in advance, terminate the loop, and the optimization of the longitudinal and transverse diagonal braces 7 is completed. i )

[0092] In summary, for the tooling of an automatic folding and bolt-removing machine and its usage method in this embodiment, through modular assembly design of the tooling components in the bolt-removing machine tooling, functions of folding, sliding and telescoping are added, and through the design of an automatic control system, automatic placement and retraction of the bolt-removing machine tooling are realized, greatly improving the reuse rate and space utilization rate of the bolt-removing machine tooling itself. Its automatic control design reduces unnecessary labor costs during construction and also avoids unnecessary assembly and splicing mistakes of workers. In addition, the dynamic adjustment design of the longitudinal diagonal brace 6 and the transverse diagonal brace 7, combined with the transverse and longitudinal adjustable functions of the dimensions, on the one hand, can adapt to different construction realities, realizing the dynamic optimization adjustment of the longitudinal diagonal brace 6 and the transverse diagonal brace 7 for different construction actual situations, and on the other hand, improving the safety and stability of the overall structure of the bolt-removing machine tooling.

Claims

1. An automated folding and screw-removing machine tooling, characterized in that It includes an automatic control system and two horizontally spaced bottom rail beams, and a main column and a sliding column are spacedly arranged on each of the bottom rail beams; The bottom of each main column is fixedly connected to the bottom rail beam, and each sliding column is slidably connected to the bottom rail beam; A top longitudinal beam is arranged on the top of each bottom rail beam. The top of the main column is fixedly connected to one side of the top longitudinal beam, and the top of the sliding column is slidably connected to the other side of the top longitudinal beam; Two cross beams are spacedly arranged between the two top longitudinal beams; A plurality of longitudinal diagonal braces are arranged between the main column and the bottom rail beam; a plurality of transverse diagonal braces are arranged between the cross beam and the main column and between the cross beam and the sliding column; Each bottom rail beam and top longitudinal beam adopt a folding design; each cross beam adopts a sliding telescopic design; The automatic control system is used to adjust the position of the sliding column, the overall length of the cross beam, the connection position and its own length of each longitudinal diagonal brace and transverse diagonal brace.

2. The tooling of an automatic folding and unscrewing machine according to claim 1, wherein, A column sleeve is arranged at the bottom and top of each sliding column, and the two column sleeves are respectively slidably connected to the bottom rail beam and the top longitudinal beam; a plurality of bolt holes matching the column sleeves are arranged on the bottom rail beam along its own length direction.

3. An automated folding and screw-removing machine tooling according to claim 1, characterized in that, Each bottom rail beam and top longitudinal beam include multiple beam segments spliced with each other. Adjacent two beam segments are respectively connected with a connecting plate and a connecting plate seat. The connecting plate is inserted into the installation groove of the connecting plate seat and fixedly connected by bolts; Local reinforcing plates are bolted to the top and bottom of adjacent two beam segments.

4. An automated folding and screw-removing machine tooling according to claim 1, characterized in that, Each cross beam includes a hollow spliced box beam and a hollow inserted box beam. The hollow inserted box beam is slidably arranged inside the hollow spliced box beam. A plurality of bolt holes are arranged on the hollow spliced box beam and the hollow inserted box beam along their own length directions, and the relative positions between the hollow spliced box beam and the hollow inserted box beam are fixed by inserting bolts into the bolt holes.

5. An automated folding and unscrewing machine tooling according to claim 2, characterized in that, Each longitudinal diagonal brace and transverse diagonal brace includes a pneumatic rod, and hinge ends are arranged at both ends of the pneumatic rod, and a diagonal brace sleeve is hinged to each hinge end.

6. An automated folding and unscrewing machine tooling according to claim 5, characterized in that, A plurality of sensors are arranged inside each column sleeve and the diagonal brace sleeve, and each column sleeve and diagonal brace sleeve are matched with a transmission; the transmission is used to drive the column sleeve and the diagonal brace sleeve to move linearly; the sensors and the transmission are both electrically connected to the automatic control system.

7. An automated folding and unscrewing machine tooling according to claim 6, characterized in that, The automatic control system includes a controller and a pneumatic pumping device and a push rod device electrically connected to the controller; the pneumatic pumping device is used to inflate the pneumatic rod to change the length of the pneumatic rod itself; the push rod device is used to push the cross beam to change the overall length of the cross beam; the sensors and the transmission are both electrically connected to the controller.

8. A method for using the tooling of the automatic folding and unscrewing machine according to any one of claims 1 to 7, characterized in that, It includes the unfolding method and the retracting method of the bolt removing machine tooling; The unfolding method of the bolt removing machine tooling includes the steps: S1. Change the folded bottom rail beam and top longitudinal beam from the bent and contracted state to the unfolded state, and the multiple beam segments of the bottom rail beam and the top longitudinal beam are connected and flattened at the same straight line position; the connecting plate is inserted into the installation groove of the connecting plate seat and fixedly connected by bolts, and the local reinforcing plate is installed on the top and bottom of adjacent two beam segments by bolts; S2. The automatic control system starts the transmission on the column sleeve of the lifting column, enabling the sliding column to slide automatically. The sliding column slides automatically from the retracted state gathered beside the main column to the deployed position. The automatic sliding of the sliding column will drive the crossbeam at the top to move accordingly. When the sliding column slides to the deployed position, fix the column sleeve at the bottom of the sliding column to the bottom track beam. S3. The longitudinal diagonal brace unfolds automatically. Fix the position of one end of the longitudinal diagonal brace. The automatic control system starts the transmission on the diagonal brace sleeve, allowing the other end of the longitudinal diagonal brace to slide freely. The longitudinal diagonal brace will change from the retracted state gathered near the main column to the diagonal support state. After the lifting load is applied, the automatic control system dynamically adjusts the sliding position of the other end of the longitudinal diagonal brace through fuzzy comprehensive evaluation and gradient descent algorithm of the tooling components, thereby adjusting the changes in the length and support angle of the longitudinal diagonal brace, optimizing the stress stability and safety of the tooling. After the sliding position of the longitudinal diagonal brace is confirmed, fix it with bolts. S4. The automatic control system controls the push rod device to push the crossbeam. The crossbeam extends automatically, and the hollow inserted box girder slides automatically in the unfolding direction, unfolds to the preset transverse dimension position, and bolts are connected at the overlapping position of the box girders. S5. The transverse diagonal brace unfolds automatically. Fix the position of one end of the transverse diagonal brace. The automatic control system starts the transmission on the diagonal brace sleeve, allowing the other end of the transverse diagonal brace to slide freely. The transverse diagonal brace will change from the retracted state gathered near the main column to the diagonal support state. The initial sliding position of the transverse diagonal brace is set manually according to experience. After the lifting load is applied, the automatic control system will dynamically adjust the sliding position of the other end of the transverse diagonal brace through gradient descent algorithm for the internal force combination of the main components, thereby adjusting the changes in the transverse length and support angle, optimizing the stress stability and safety of the tooling. After the sliding position of the transverse diagonal brace is confirmed, fix it with bolts. The steps of the recovery method of the bolt removal machine tooling are opposite to those of the unfolding method of the bolt removal machine tooling, and at the same time, the dynamic optimization process of the longitudinal diagonal brace and the transverse diagonal brace in steps S3 and S5 is omitted.

9. The usage method of an automated folding and screw - removing machine tooling according to claim 8, characterized in that, In steps S3 and S5, the method for optimizing the position and support angle of the longitudinal and transverse diagonal braces is as follows: Step A. Divide the tooling components, which include sliding columns, main columns, crossbeams, longitudinal diagonal braces, and transverse diagonal braces. Sensors in the diagonal brace sleeves at the ends of the longitudinal and transverse diagonal braces monitor the stress of the tooling components in real time and upload it to the control system. Step B. Conduct a safety assessment of each tooling component through the fuzzy comprehensive evaluation method. Establish a function model for the safety assessment results and use the gradient descent algorithm to optimize and adjust the function. On the premise of ensuring that each tooling component is not damaged, optimize the overall stress mode of the tooling by dynamically adjusting the length and support angle of the longitudinal and transverse diagonal braces. Step C. After determining the support angle and support position of the longitudinal and transverse diagonal braces, bolt-fix the diagonal brace sleeves on the longitudinal and transverse diagonal braces, and the bolt removal machine tooling is put into use.

10. The method of using a tooling for an automated folding and unscrewing machine according to claim 9, characterized in that, In step B, optimizing the overall stress mode of the tooling includes: Step B1: Establish the fuzzy relation matrix R of each tooling component 1j , R 1j includes the main column fuzzy relation matrix R 11 , the sliding column fuzzy relation matrix R 12 , the crossbeam fuzzy relation matrix R 13 , the top longitudinal beam fuzzy relation matrix R 14 , the bottom rail beam fuzzy relation matrix R 15 ; Step B2. Calculate the weight vector W1 of the tooling components and the weight vector W2 of each sub-item for component identification through the geometric mean method. Step B3: By combining W2 with R 1j the evaluation result B of the component can be obtained through synthesis j ; From the component evaluation structure B j , the secondary evaluation relationship matrix R is obtained, R = [B1 B2 B3 B4 B5]; Step B4: Combine W1 and R to obtain the fuzzy comprehensive evaluation result B, B = R ∙ W1 = [b1, b2, b3, b4, b5]; Step B5: Establish a differentiable function f(b1, b2, b3, b4, b5) about the fuzzy comprehensive evaluation result B according to the weight vector W2; Step B6: Set the step size a of the gradient descent algorithm, where the step size is the moving distance of the longitudinal and transverse braces; at the same time, set a group of initial values, and the initial values are the internal force evaluation results of the tooling when the longitudinal and transverse braces are at the initial positions set by experience; Step B7. When a gradient is calculated, that is, after the mobile ends of the longitudinal and transverse diagonal braces move a distance of one step length, the optimization adjustment result of function f is expressed as f = f - a × Δf(b i ), where Δf(b i ) represents the gradient of function f. Subsequently, update iteration calculation is performed and a new gradient is calculated again. When the modulus of the calculated vector is less than a preset value set in advance, the loop is terminated, and the optimization of the longitudinal and transverse diagonal braces is completed.

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