Intelligent grouting integrated pumping equipment system and control method thereof

Abstract

The invention discloses an intelligent grouting integrated pumping equipment system and a control method thereof. The control system comprises an intelligent feeder, an intelligent stirrer, an intelligent pumping device and a system main controller. The intelligent feeder comprises a discharging controller, a plurality of material hoppers and a discharging mechanism, and a first gravity sensor is arranged below each material hopper; the intelligent stirrer comprises a stirring controller, a stirring mechanism, a first torque sensor and a second gravity sensor; the intelligent pumping device comprises a grouting controller, a grouting pipe, a grouting mechanism, a pressure sensor and a second torque sensor; and the system main controller is connected with the intelligent feeder, the intelligent stirrer and the intelligent pumping device. According to the method, the quality problems that construction is low in site manual stirring grouting material efficiency, the site manual stirring grouting material mixing ratio is not accurate or time control is not reasonable, and consequently the workability of the grouting material is poor are solved, and the intelligent construction efficiency of grouting of the assembly type building component joint sleeve connecting hole is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of high-end intelligent equipment, and in particular to an intelligent grouting integrated pumping equipment system and a control method thereof. Background Art

[0002] With the development of building industrialization, prefabricated buildings have become the main direction of construction projects in major cities. The construction quality of grouting at the connection nodes of prefabricated building PC components is particularly prominent for the safety of building structures. At present, there are the following main problems in the grouting construction of casing holes in prefabricated buildings on construction sites: the mixing of grouting materials by on-site workers, the control of grouting pressure and grouting time should be mainly controlled based on on-site experience. The grouting construction directly affects the grouting quality of the connection nodes of prefabricated building PC components from the mixing of grouting materials, the control of grouting pressure and the control of grouting time.

[0003] Therefore, the prior art still needs to be improved and enhanced. Summary of the invention

[0004] The technical problem to be solved by the present invention is that, in view of the above-mentioned defects of the prior art, an intelligent grouting integrated pumping equipment system and a control method thereof are provided, aiming to solve the problem in the prior art that on-site workers stir the grouting materials, and the grouting pressure and grouting time control must be mainly controlled based on on-site experience, which seriously affects the grouting quality of the connection nodes of prefabricated building PC components.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0006] In a first aspect, the present invention provides an intelligent grouting integrated pumping equipment system, wherein the system comprises:

[0007] An intelligent feeder, the intelligent feeder comprising a feeding controller, a plurality of material hoppers connected to the feeding controller, and a feeding mechanism connected to the feeding controller, wherein a first gravity sensor is arranged under each material hopper, and each first gravity sensor is connected to the feeding controller;

[0008] An intelligent stirrer, the intelligent stirrer comprising a stirring controller, a stirring mechanism connected to the stirring controller, a first torque sensor disposed in the stirring mechanism, and a second gravity sensor disposed at the bottom of a stirring barrel, wherein the first torque sensor and the second gravity sensor are both connected to the stirring controller;

[0009] An intelligent pumping device, the intelligent pumping device comprising a grouting controller, a grouting pipe connected to the grouting controller, a grouting mechanism connected to the grouting controller, a pressure sensor arranged at a grouting outlet, and a second torque sensor arranged in the grouting mechanism, wherein the pressure sensor is connected to the second torque sensor;

[0010] A system main controller, wherein the system main controller is connected to the intelligent feeder, the intelligent agitator and the intelligent pump.

[0011] In one implementation, the material hopper includes: a main material hopper, an auxiliary material hopper and a water hopper, and the main material hopper, the auxiliary material hopper and the water hopper are all connected to respective material discharge mechanisms, each of the material discharge mechanisms includes a material discharge motor, and each of the material discharge motors is connected to the material discharge controller;

[0012] The system main controller establishes a mass change control algorithm based on the first weight data sensed by the first gravity sensors under the main material hopper, auxiliary material hopper and water hopper, and controls the unloading controller to perform quantitative control on each unloading motor based on the mass change control algorithm to realize intelligent unloading.

[0013] In one implementation, the stirring mechanism includes a stirring motor, and the stirring motor is connected to the stirring controller;

[0014] The system main controller establishes an intelligent agitator control algorithm based on the first rotation data sensed by the first torque sensor and the second weight data sensed by the second gravity sensor, and controls the stirring controller to perform quantitative control on the stirring motor based on the intelligent agitator control algorithm to achieve the setting of the stirring time.

[0015] In one implementation, the grouting mechanism includes a grouting motor, and the grouting motor is connected to the grouting controller;

[0016] The system main controller establishes a relationship model based on the second rotation data sensed by the second torque sensor and the pressure data sensed by the pressure sensor, and controls the grouting controller to perform quantitative control on the grouting motor based on the relationship model to achieve the setting of the motor rotation parameters and the slurry discharge pressure parameters.

[0017] In one implementation, the intelligent pump further includes an air pump, which is connected to the grouting controller.

[0018] In a second aspect, an embodiment of the present invention further provides a control method for the intelligent integrated grouting pumping equipment system according to any one of the above solutions, wherein the control method comprises:

[0019] Obtaining first weight data sensed by first gravity sensors under the main material hopper, the auxiliary material hopper and the water hopper, the system main controller establishes a material quality change control algorithm based on the first weight data, and controls the material unloading controller to realize intelligent material unloading based on the quality change control algorithm;

[0020] Acquire first rotation data sensed by a first torque sensor in the stirring mechanism and second weight data sensed by a second gravity sensor at the bottom of the stirring barrel, and the system main controller establishes an intelligent stirrer control algorithm based on the first rotation data and the second weight data, and controls the stirring controller to quantitatively control the stirring motor based on the intelligent stirrer control algorithm;

[0021] The second rotation data sensed by the second torque sensor in the grouting mechanism and the pressure data sensed by the pressure sensor at the grouting pipe are obtained, and the system main controller establishes a relationship model based on the second rotation data and the pressure data, and controls the grouting controller to perform quantitative control on the grouting motor based on the relationship model.

[0022] In one implementation, the process of establishing the quality change control algorithm includes:

[0023] Establish weight difference algorithm: (∑G tjci -∑G ci )=ΔG ci , where ΔG ci is the weight difference of the material bucket. When i is 0, G c0 is the net weight of the main material bucket, when i is 1, G c1 is the net weight of the auxiliary hopper. When i is 2, G c2 is the net weight of the bucket, which is a constant; G tjci is the instantaneous weight parameter value, G tjc0 G is the weight value of the main material bucket at time tj; tjc1 is the weight value of the auxiliary hopper at time tj; G tjc2 is the weight of the bucket at time tj;

[0024] Establishing a mass change control algorithm: Δm j =∑ΔG ci / g, where Δm j is the mass change of the material bucket, g is a constant of 9.8, when i is 0, ΔG c0j is the weight difference of the main material bucket in a certain period of time; when i is 1, ΔG c1j is the weight difference of the auxiliary hopper in time period j; when i is 2, ΔG c2j is the weight difference of the bucket in period j.

[0025] In one implementation, the intelligent agitator control algorithm is:

[0026] (∑ΔG ci / g)+∑(|(ΔG f -∑ΔG ci ) / g|)=ΔT*W1*β;

[0027] Among them, ΔG f is the change in agitator weight, (|(ΔG f -∑ΔG ci ) / g|) is the agitator correction parameter, specifically the agitator weight change ΔG f The difference between the total weight difference of the material bucket and the weight of the material bucket is corrected by a positive value, β is the correction empirical coefficient, ΔT is the change in stirring time, and W1 is the value of the first rotation data.

[0028] In one implementation, the relationship model is:

[0029] ΔW2=α*ΔF x , where ΔW2 is the change value of the second rotation data, α is the correction parameter, ΔF x is the change value of the grouting port pressure data, and x is the position of the grouting port.

[0030] In one implementation, the method further includes:

[0031] In the early stage of grouting, air tightness test is carried out using an air pump.

[0032] Beneficial effects: Compared with the prior art, the present invention provides an intelligent grouting integrated pumping equipment system, including an intelligent feeder, an intelligent agitator, an intelligent pumper and a system main controller. The intelligent feeder includes a feeding controller, a plurality of material hoppers connected to the feeding controller and a feeding mechanism connected to the feeding controller, wherein a first gravity sensor is arranged under each material hopper, and each first gravity sensor is connected to the feeding controller; the intelligent agitator includes a stirring controller, a stirring mechanism connected to the stirring controller, a first torque sensor arranged in the stirring mechanism and a second gravity sensor arranged at the bottom of the stirring barrel, wherein the first torque sensor and the second gravity sensor are both connected to the stirring controller; the intelligent pumper includes a grouting controller, a grouting pipe connected to the grouting controller, a grouting mechanism connected to the grouting controller, a pressure sensor arranged at the grouting outlet and a second torque sensor arranged in the grouting mechanism, wherein the pressure sensor is connected to the second torque sensor; the system main controller is connected to the intelligent feeder, the intelligent agitator and the intelligent pumper. Compared with traditional grouting pumps, the present invention solves the quality problems of inefficient construction of on-site manual mixing of grouting materials, inaccurate mix ratios or unreasonable time control of on-site manual mixing of grouting materials, which lead to poor workability of grouting materials, and improves the intelligent construction efficiency of grouting at the connection holes of node sleeves of prefabricated building components. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A structural diagram of the intelligent integrated grouting pumping equipment system provided in an embodiment of the present invention.

[0034] Figure 2 A schematic diagram of the structure of a material bucket in an intelligent integrated grouting pumping equipment system provided in an embodiment of the present invention.

[0035] Figure 3 A schematic structural diagram of an intelligent agitator in an intelligent integrated grouting pumping equipment system provided in an embodiment of the present invention.

[0036] Figure 4 A flowchart of a preferred embodiment of a control method for an intelligent integrated grouting pumping equipment system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0038] This embodiment provides an intelligent grouting integrated pumping equipment system, such as Figure 1As shown in , the intelligent grouting integrated pumping equipment system of this embodiment includes an intelligent feeder, an intelligent agitator, an intelligent pumper and a system main controller. The system main controller is connected to the intelligent feeder, the intelligent agitator and the intelligent pumper respectively, so as to intelligently control the intelligent feeder, the intelligent agitator and the intelligent pumper based on the system main controller, so as to solve the inefficient construction of manual mixing of grouting materials on site, the inaccurate mix ratio of manual mixing of grouting materials on site or unreasonable time control, resulting in poor workability of grouting materials, and improve the intelligent construction efficiency of grouting of the joint sleeve connection holes of prefabricated building components.

[0039] Specifically, the intelligent feeder of this embodiment includes a feeding controller, a plurality of material hoppers connected to the feeding controller, and a feeding mechanism connected to the feeding controller, wherein Figure 2 As shown in , a first gravity sensor is arranged under each material hopper, and each first gravity sensor is connected to the material discharge controller. In addition, a material discharge agitator and a material discharge pipe are also included. In actual application, the material hopper of this embodiment adopts a three-bucket shape, including: a main material hopper, an auxiliary material hopper and a water hopper, and the main material hopper, the auxiliary material hopper and the water hopper are all connected to their respective material discharge mechanisms, each of the material discharge mechanisms includes a material discharge motor, and each of the material discharge motors is connected to the material discharge controller. The material discharge controller can quantitatively control each material discharge motor according to the first weight data sensed by the first gravity sensor under each of the main material hopper, the auxiliary material hopper and the water hopper, so as to realize the precise control of the grouting material.

[0040] In this embodiment, a single-chip microcomputer PCL is provided in the system main controller for controlling the intelligent feeder, the intelligent agitator and the intelligent pumper. In addition, this embodiment can also develop a human-machine operation interface for inputting operation instructions. After receiving the operation instructions, the single-chip microcomputer PCL can execute the control of the intelligent feeder, the intelligent agitator and the intelligent pumper. The system main controller in this embodiment also integrates various control algorithms, which are pre-set by programming. Specifically, the programmer writes the corresponding algorithm program according to the scheduling requirements of the intelligent feeder, the intelligent agitator and the intelligent pumper.

[0041] It is used to dispatch intelligent feeders, intelligent agitators, and intelligent pumpers, etc., to execute various process flows to realize intelligent grouting. In addition, the system main controller also includes a communication module to facilitate data transmission between intelligent feeders, intelligent agitators, and intelligent pumpers. Specifically, after the unloading controller of this embodiment obtains the first weight data sensed by the first gravity sensor under the main material hopper, the auxiliary material hopper, and the water hopper, the first weight data is transmitted to the system main controller. The system main controller can establish a material quality change control algorithm based on the first weight data. The material quality change control algorithm can reflect the weight change of each material hopper, and then control the unloading controller to realize intelligent unloading based on the quality change control algorithm. The process of establishing the material quality change control algorithm is as follows:

[0042] First, establish the weight difference algorithm: (∑G tjci -∑G ci )=ΔG ci , where ΔG ci is the weight difference of the material bucket. When i is 0, G c0 is the net weight of the main material bucket, when i is 1, G c1 is the net weight of the auxiliary hopper. When i is 2, G c2 is the net weight of the bucket, which is a constant; G tjci is the instantaneous weight parameter value, G tjc0 G is the weight value of the main material bucket at time tj; tjc1 is the weight value of the auxiliary hopper at time tj; G tjc2 is the weight value of the water bucket at time tj. Therefore, based on the weight difference algorithm, the weight change of each material bucket can be determined.

[0043] Next, this embodiment establishes a quality change control algorithm: Δm j =∑ΔG ci / g, where Δm j is the mass change of the material bucket, g is a constant of 9.8, when i is 0, ΔG c0j is the weight difference of the main material bucket in a certain period of time; when i is 1, ΔG c1j is the weight difference of the auxiliary hopper in time period j; when i is 2, ΔG c2jis the weight difference of the water bucket in the j period. Based on the mass change control algorithm, the mass change value of each material bucket can be clearly analyzed, and the material discharge controller controls the material discharge motor based on the mass change control algorithm. Specifically, the material discharge motor in the corresponding material bucket can be adjusted according to the mass change value of each material bucket. In this embodiment, a corresponding relationship table between the mass change value of each material bucket and the rotation parameter of the material discharge motor can be pre-set. The corresponding relationship table sets the rotation parameters corresponding to the interval of the mass change value of each material bucket. Therefore, after analyzing the mass change value of the material bucket based on the above-mentioned mass change control algorithm, the mass change value can be matched with the corresponding relationship table to determine which interval the mass change value is located in, and then determine the corresponding rotation parameter. The material discharge controller can control the material discharge motor based on the determined rotation parameter. The rotation parameter of this embodiment can be the rotation speed of the material discharge motor. Therefore, this embodiment can control the rotation speed of the material discharge motor, and then adjust the material discharge quality of each material bucket, while meeting the grouting requirements, realizing refined control of the material discharge.

[0044] Furthermore, the intelligent stirrer of this embodiment includes a stirring controller, a stirring mechanism connected to the stirring controller, and a first torque sensor disposed in the stirring mechanism, specifically Figure 3 As shown in , two feed ports and one discharge port are arranged on the stirring barrel, a second gravity sensor is arranged at the bottom of the stirring barrel, the first torque sensor and the second gravity sensor are both connected to the stirring controller, the stirring mechanism includes a stirring motor, the stirring motor is connected to the stirring controller, and further includes an electrode rotating propulsion sheet and a stirring sheet. Specifically, after acquiring the first rotation data sensed by the first torque sensor in the stirring mechanism and the second weight data sensed by the second gravity sensor at the bottom of the stirring barrel, the stirring controller transmits the first rotation data and the second weight data to the system main controller, and the system main controller can establish an intelligent agitator control algorithm based on the first rotation data and the second weight data, and then control the stirring controller to quantitatively control the stirring motor based on the intelligent agitator control algorithm.

[0045] Specifically, the stirring barrel of this embodiment is provided with three feed ports on the top, a motor stirring device is provided at the bottom, a first torque sensor and a shaft angular velocity sensor are installed inside, a first rotation data Wj is obtained based on the first torque sensor, and a weight change ΔG of the stirrer is obtained based on the second gravity sensor provided at the bottom of the barrel. fi , the intelligent agitator control algorithm is established as:

[0046] (∑ΔG ci / g)+∑(|(ΔG f -∑ΔG ci ) / g|)=ΔT*W1*β;

[0047] Among them, ΔG f is the change in agitator weight, (|(ΔG f -∑ΔG ci ) / g|) is the agitator correction parameter, specifically the agitator weight change ΔG f The difference between the weight difference of the material bucket and the total weight difference is corrected by taking a positive value, β is the correction empirical coefficient, and the correction empirical coefficient β is obtained based on the relationship between the grouting material and the stirring speed. Specifically, the design ratio of the grouting material and the stirring experiment can be used to obtain the correction empirical coefficient. ΔT is the change in stirring time, W1 is the value of the first rotation data, and the first rotation data can be the rotational torque value of the stirring motor detected by the first torque sensor. Of course, in other implementations, the first torque sensor of this embodiment can be replaced by a first rotational angular velocity sensor, which can detect the rotational angular velocity of the stirring motor. It should be noted that the first rotation data W1 and the stirring time change value ΔT of the above-mentioned intelligent agitator control algorithm only focus on the numerical value, that is, when (∑ΔG ci / g)+∑(|(ΔG f -∑ΔG ci ) / g|), combined with the rotational torque value of the stirring motor detected by the first torque sensor (i.e., the value of the first rotation data W1) and the value of the corrected empirical coefficient β, the stirring time change value ΔT can be obtained. The stirring controller can adjust the rotation parameters of the stirring motor, such as adjusting the stirring speed of the stirring motor, to achieve control of the stirring time. While meeting the grouting requirements, it can achieve refined control of the stirring time of different grouting materials to ensure that the grouting materials are in the best workability.

[0048] Furthermore, the intelligent pumping device of the present embodiment includes a grouting controller, a grouting pipe connected to the grouting controller, a grouting mechanism connected to the grouting controller, a pressure sensor disposed at the grouting outlet, and a second torque sensor disposed in the grouting mechanism, wherein the pressure sensor is connected to the second torque sensor. The grouting mechanism includes a grouting motor, and the grouting motor is connected to the grouting controller. Specifically, after acquiring the second rotation data sensed by the second torque sensor in the grouting mechanism and the pressure data sensed by the pressure sensor at the grouting pipe, the grouting controller transmits the second rotation data and the pressure data to the system main controller, and the system main controller can establish a relationship model based on the second rotation data and the pressure data, and then control the grouting controller to perform quantitative control on the grouting motor based on the relationship model. Specifically, the relationship model established in the present embodiment is ΔW2=α*ΔF x , where ΔW2 is the change value of the second rotation data, that is, the change value of the rotation data of the grouting motor, α is the correction parameter, ΔF xis the change value of the grouting port pressure data, and x is the position of the grouting port. The relationship model can reflect the corresponding relationship between the numerical value of the second rotation data of the grouting motor and the numerical value of the pressure data of the grouting pipe outlet. Similarly, the second rotation data can be the rotational torque value of the grouting motor detected by the second torque sensor. Of course, in other implementations, the second torque sensor of this embodiment can be replaced by a second rotational angular velocity sensor, which can detect the rotational angular velocity of the grouting motor. Similarly, the change value ΔW2 of the second rotation data in the above relationship model and the change value ΔF of the grouting port pressure data x We only focus on the numerical value. After obtaining the change value ΔW2 of the second rotation data, based on the above relationship model, we can obtain the change value ΔF of the grouting port pressure data. x The grouting motor can adjust the rotation parameters of the grouting motor based on the change value of the pressure data, such as adjusting the grouting speed of the grouting motor. The slower the grouting speed, the smaller the pressure data at the grouting outlet. Therefore, this embodiment can achieve quantitative control of the grouting pressure while meeting the grouting requirements.

[0049] In addition, the intelligent pumping device of this embodiment further includes an air pump, which is connected to the grouting controller. In this embodiment, the air pump can be used to perform air tightness detection in the early stage of grouting, so as to better detect and control the pressure data. It can be seen that in this embodiment, the pressure of the grouting pipe can be finely controlled by the grouting motor and the air pump.

[0050] Based on the above embodiments, the present invention further provides a control method, which is applied to the intelligent grouting integrated pumping equipment system described in the above embodiments. Figure 4 As shown in , the control method includes the following steps:

[0051] Step S100, obtain the first weight data sensed by the first gravity sensor under the main material hopper, the auxiliary material hopper and the water hopper respectively, the system main controller establishes a material quality change control algorithm based on the first weight data, and controls the material unloading controller to realize intelligent material unloading based on the quality change control algorithm.

[0052] In specific implementation, the first weight data sensed by the first gravity sensor under each of the main material hopper, the auxiliary material hopper and the water hopper is obtained through the material unloading controller, and then the first weight data is transmitted to the system main controller, which can establish a material quality change control algorithm based on the first weight data. The material quality change control algorithm can reflect the weight change of each material hopper, and then control the material unloading controller to realize intelligent unloading based on the quality change control algorithm. The process of establishing the material quality change control algorithm is as follows:

[0053] First, establish the weight difference algorithm: (∑Gtjci -∑G ci )=ΔG ci , where ΔG ci is the weight difference of the material bucket. When i is 0, G c0 is the net weight of the main material bucket, when i is 1, G c1 is the net weight of the auxiliary hopper. When i is 2, G c2 is the net weight of the bucket, which is a constant; G tjci is the instantaneous weight parameter value, G tjc0 G is the weight value of the main material bucket at time tj; tjc1 is the weight value of the auxiliary hopper at time tj; G tjc2 is the weight value of the water bucket at time tj. Therefore, based on the weight difference algorithm, the weight change of each material bucket can be determined.

[0054] Next, this embodiment establishes a quality change control algorithm: Δm j =∑ΔG ci / g, where Δm j is the mass change of the material bucket, g is a constant of 9.8, when i is 0, ΔG c0j is the weight difference of the main material bucket in a certain period of time; when i is 1, ΔG c1j is the weight difference of the auxiliary hopper in time period j; when i is 2, ΔG c2j is the weight difference of the water bucket in the j period. Based on the mass change control algorithm, the mass change value of each material bucket can be clearly analyzed, and the material discharge controller controls the material discharge motor based on the mass change control algorithm. Specifically, the material discharge motor in the corresponding material bucket can be adjusted according to the mass change value of each material bucket. In this embodiment, a corresponding relationship table between the mass change value of each material bucket and the rotation parameter of the material discharge motor can be pre-set. The corresponding relationship table sets the rotation parameters corresponding to the interval of the mass change value of each material bucket. Therefore, after analyzing the mass change value of the material bucket based on the above-mentioned mass change control algorithm, the mass change value can be matched with the corresponding relationship table to determine which interval the mass change value is located in, and then determine the corresponding rotation parameter. The material discharge controller can control the material discharge motor based on the determined rotation parameter. The rotation parameter of this embodiment can be the rotation speed of the material discharge motor. Therefore, this embodiment can control the rotation speed of the material discharge motor, and then adjust the material discharge quality of each material bucket, while meeting the grouting requirements, realizing refined control of the material discharge.

[0055] Step S200, obtain the first rotation data sensed by the first torque sensor in the stirring mechanism and the second weight data sensed by the second gravity sensor at the bottom of the stirring barrel, and the system main controller establishes an intelligent agitator control algorithm based on the first rotation data and the second weight data, and controls the stirring controller to perform quantitative control on the stirring motor based on the intelligent agitator control algorithm.

[0056] During specific implementation, the stirring controller obtains the first rotation data sensed by the first torque sensor in the stirring mechanism and the second weight data sensed by the second gravity sensor at the bottom of the stirring barrel, and then transmits the first rotation data and the second weight data to the system main controller. The system main controller can establish an intelligent agitator control algorithm based on the first rotation data and the second weight data, and then control the stirring controller to perform quantitative control on the stirring motor based on the intelligent agitator control algorithm.

[0057] Specifically, the first rotation data Wj is obtained based on the first torque sensor, and the agitator weight change ΔG is obtained based on the second gravity sensor. fi , the intelligent agitator control algorithm is established as:

[0058] (∑ΔG ci / g)+∑(|(ΔG f -∑ΔG ci ) / g|)=ΔT*W1*β;

[0059] Among them, ΔG f is the change in agitator weight, (|(ΔG f -∑ΔG ci ) / g|) is the agitator correction parameter, specifically the agitator weight change ΔG f The difference between the weight difference of the material bucket and the total weight difference is corrected by taking a positive value, β is the correction empirical coefficient, and the correction empirical coefficient β is obtained based on the relationship between the grouting material and the stirring speed. Specifically, the design ratio of the grouting material and the stirring experiment can be used to obtain the correction empirical coefficient. ΔT is the change in stirring time, W1 is the value of the first rotation data, and the first rotation data can be the rotational torque value of the stirring motor detected by the first torque sensor. Of course, in other implementations, the first torque sensor of this embodiment can be replaced by a first rotational angular velocity sensor, which can detect the rotational angular velocity of the stirring motor. It should be noted that the first rotation data W1 and the stirring time change value ΔT of the above-mentioned intelligent agitator control algorithm only focus on the numerical value, that is, when (∑ΔG ci / g)+∑(|(ΔG f -∑ΔG ci) / g|), combined with the rotational torque value of the stirring motor detected by the first torque sensor (i.e., the value of the first rotation data W1) and the value of the corrected empirical coefficient β, the stirring time change value ΔT can be obtained. The stirring controller can adjust the rotation parameters of the stirring motor, such as adjusting the stirring speed of the stirring motor, to achieve control of the stirring time. While meeting the grouting requirements, it can achieve refined control of the stirring time of different grouting materials to ensure that the grouting materials are in the best workability.

[0060] Step S300, obtain the second rotation data sensed by the second torque sensor in the grouting mechanism and the pressure data sensed by the pressure sensor at the grouting pipe, and the system main controller establishes a relationship model based on the second rotation data and the pressure data, and controls the grouting controller to perform quantitative control on the grouting motor based on the relationship model.

[0061] In a specific implementation, the second rotation data sensed by the second torque sensor in the grouting mechanism and the pressure data sensed by the pressure sensor at the grouting pipe are obtained through the grouting controller, and then the second rotation data and pressure data are transmitted to the system main controller. The system main controller can establish a relationship model based on the second rotation data and pressure data, and then control the grouting controller to quantitatively control the grouting motor based on the relationship model. Specifically, the relationship model established in this embodiment is ΔW2=α*ΔF x , where ΔW2 is the change value of the second rotation data, that is, the change value of the rotation data of the grouting motor, α is the correction parameter, ΔF x is the change value of the grouting port pressure data, and x is the position of the grouting port. The relationship model can reflect the corresponding relationship between the numerical value of the second rotation data of the grouting motor and the numerical value of the pressure data of the grouting pipe outlet. Similarly, the second rotation data can be the rotational torque value of the grouting motor detected by the second torque sensor. Of course, in other implementations, the second torque sensor of this embodiment can be replaced by a second rotational angular velocity sensor, which can detect the rotational angular velocity of the grouting motor. Similarly, the change value ΔW2 of the second rotation data in the above relationship model and the change value ΔF of the grouting port pressure data x We only focus on the numerical value. After obtaining the change value ΔW2 of the second rotation data, based on the above relationship model, we can obtain the change value ΔF of the grouting port pressure data. x The grouting motor can adjust the rotation parameters of the grouting motor based on the change value of the pressure data, such as adjusting the grouting speed of the grouting motor. The slower the grouting speed, the smaller the pressure data at the grouting outlet. Therefore, this embodiment can achieve quantitative control of the grouting pressure while meeting the grouting requirements.

[0062] In addition, the present embodiment can perform air tightness detection by the air pump in the early stage of grouting, so as to better detect and control the pressure data. It can be seen that the present embodiment can realize fine control of the pressure of the grouting pipe by the grouting motor and the air pump.

[0063] In summary, compared with the traditional grouting pump, this embodiment solves the quality problems of inefficient construction of manual mixing of grouting materials on site, inaccurate mix ratio or unreasonable time control of manual mixing of grouting materials on site, resulting in poor workability of grouting materials, and improves the intelligent construction efficiency of grouting of node sleeve connection holes of prefabricated building components.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent integrated grouting pumping equipment system, characterized in that: The system comprises: An intelligent feeder, the intelligent feeder comprising a feeding controller, a plurality of material hoppers connected to the feeding controller, and a feeding mechanism connected to the feeding controller, wherein a first gravity sensor is arranged under each material hopper, and each first gravity sensor is connected to the feeding controller; An intelligent stirrer, the intelligent stirrer comprising a stirring controller, a stirring mechanism connected to the stirring controller, a first torque sensor disposed in the stirring mechanism, and a second gravity sensor disposed at the bottom of a stirring barrel, wherein the first torque sensor and the second gravity sensor are both connected to the stirring controller; An intelligent pumping device, the intelligent pumping device comprising a grouting controller, a grouting pipe connected to the grouting controller, a grouting mechanism connected to the grouting controller, a pressure sensor arranged at a grouting outlet, and a second torque sensor arranged in the grouting mechanism, wherein the pressure sensor is connected to the second torque sensor; A system main controller, wherein the system main controller is connected to the intelligent feeder, the intelligent agitator and the intelligent pump.

2. The intelligent grouting integrated pumping equipment system according to claim 1 is characterized in that: The material hopper includes: a main material hopper, an auxiliary material hopper and a water hopper, and the main material hopper, the auxiliary material hopper and the water hopper are all connected to their respective unloading mechanisms, each of the unloading mechanisms includes a unloading motor, and each of the unloading motors is connected to the unloading controller; The system main controller establishes a mass change control algorithm based on the first weight data sensed by the first gravity sensors under the main material hopper, auxiliary material hopper and water hopper, and controls the unloading controller to perform quantitative control on each unloading motor based on the mass change control algorithm to realize intelligent unloading.

3. The intelligent grouting integrated pumping equipment system according to claim 1 is characterized in that: The stirring mechanism comprises a stirring motor, and the stirring motor is connected to the stirring controller; The system main controller establishes an intelligent agitator control algorithm based on the first rotation data sensed by the first torque sensor and the second weight data sensed by the second gravity sensor, and controls the stirring controller to perform quantitative control on the stirring motor based on the intelligent agitator control algorithm to achieve the setting of the stirring time.

4. The intelligent grouting integrated pumping equipment system according to claim 1 is characterized in that: The grouting mechanism comprises a grouting motor, and the grouting motor is connected to the grouting controller; The system main controller establishes a relationship model based on the second rotation data sensed by the second torque sensor and the pressure data sensed by the pressure sensor, and controls the grouting controller to perform quantitative control on the grouting motor based on the relationship model to achieve the setting of the motor rotation parameters and the slurry discharge pressure parameters.

5. The intelligent grouting integrated pumping equipment system according to claim 4 is characterized in that: The intelligent pump also includes an air pump, which is connected to the grouting controller.

6. A control method, the control method being applied to the intelligent grouting integrated pumping equipment system according to any one of claims 1 to 5, characterized in that: The control method comprises: Obtaining first weight data sensed by first gravity sensors under the main material hopper, the auxiliary material hopper and the water hopper, the system main controller establishes a material quality change control algorithm based on the first weight data, and controls the material unloading controller to realize intelligent material unloading based on the quality change control algorithm; Acquire first rotation data sensed by a first torque sensor in the stirring mechanism and second weight data sensed by a second gravity sensor at the bottom of the stirring barrel, and the system main controller establishes an intelligent stirrer control algorithm based on the first rotation data and the second weight data, and controls the stirring controller to quantitatively control the stirring motor based on the intelligent stirrer control algorithm; The second rotation data sensed by the second torque sensor in the grouting mechanism and the pressure data sensed by the pressure sensor at the grouting pipe are obtained, and the system main controller establishes a relationship model based on the second rotation data and the pressure data, and controls the grouting controller to perform quantitative control on the grouting motor based on the relationship model.

7. The control method according to claim 6, characterized in that: The establishment process of the quality change control algorithm includes: Establish weight difference algorithm: (∑G tjci -∑G ci )=ΔG ci , where ΔG ci is the weight difference of the material bucket. When i is 0, G c0 is the net weight of the main material bucket, when i is 1, G c1 is the net weight of the auxiliary hopper. When i is 2, G c2 is the net weight of the bucket, which is a constant; G tjci is the instantaneous weight parameter value, G tjc0 G is the weight value of the main material bucket at time tj; tjc1 is the weight value of the auxiliary hopper at time tj; G tjc2 is the weight of the bucket at time tj; Establishing a mass change control algorithm: Δm j =∑ΔG ci / g, where Δm j is the mass change of the material bucket, g is a constant of 9.8, when i is 0, ΔG c0j is the weight difference of the main material bucket in a certain period of time; when i is 1, ΔG c1j is the weight difference of the auxiliary hopper in time period j; when i is 2, ΔG c2j is the weight difference of the bucket in period j.

8. The control method according to claim 7, characterized in that: The intelligent agitator control algorithm is: (∑ΔG ci / g)+∑(|(ΔG f -∑ΔG ci ) / g|)=ΔT*W1*β; Among them, ΔG f is the change in agitator weight, (|(ΔG f -∑ΔG ci ) / g|) is the agitator correction parameter, specifically the agitator weight change ΔG f The difference between the total weight difference of the material bucket and the weight of the material bucket is corrected by a positive value, β is the correction empirical coefficient, ΔT is the change in stirring time, and W1 is the value of the first rotation data.

9. The control method according to claim 8, characterized in that: The relationship model is: ΔW2=α*ΔF x , where ΔW2 is the change value of the second rotation data, α is the correction parameter, ΔF x is the change value of the grouting port pressure data, and x is the position of the grouting port.

10. The control method according to claim 6, characterized in that: The method further comprises: In the early stage of grouting, air tightness test is carried out using an air pump.

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