Intelligent grouting integrated pumping equipment system and control method thereof

Abstract

The application discloses intelligentized grouting integrated pumping equipment system and a control method thereof, and the control system comprises an intelligent feeder, an intelligent stirrer, an intelligent pump and a system main controller. The intelligent feeder comprises a discharging controller, a plurality of material hoppers and a discharging mechanism, wherein 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 pump 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 pump. The application solves the problems of low-efficiency construction of field manual stirring of grouting materials, inaccurate mixing proportion or unreasonable time control of field manual stirring of grouting materials, and poor workability of grouting materials, and improves the intelligent construction efficiency of the assembly type building component node sleeve pipe connecting hole grouting.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of high-end intelligent equipment, and particularly relates to intelligent grouting integrated pumping equipment system and a control method thereof. BACKGROUND

[0002] With the development of building industrialization, fabricated buildings have become the main direction of building engineering in major cities, and the construction quality of grouting of fabricated building PC component connecting nodes is particularly important for building structure safety. At present, the grouting construction of fabricated building sleeve hole on the construction site has the following main problems: the grouting material is stirred by workers on site, the grouting pressure and grouting time control are mainly controlled by on-site experience, and the grouting construction directly affects the grouting quality of the connecting nodes of the fabricated building PC component, including grouting material mixing, grouting pressure control and grouting time control.

[0003] Therefore, the prior art still needs to be improved and improved. SUMMARY

[0004] The technical problem to be solved by the present application is to provide an intelligent grouting integrated pumping equipment system and a control method thereof, which solves the problem of grouting material stirring by workers on site, grouting pressure and grouting time control mainly controlled by on-site experience, and seriously affects the grouting quality of the connecting nodes of the fabricated building PC component.

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

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

[0007] The intelligent material feeder comprises a material feeding controller, a plurality of material hoppers connected with the material feeding controller, and a material feeding mechanism connected with the material feeding controller, wherein a first gravity sensor is arranged below each material hopper, and each first gravity sensor is connected with the material feeding controller.

[0008] The intelligent mixer comprises a mixing controller, a mixing mechanism connected with the mixing controller, a first torque sensor arranged in the mixing mechanism, and a second gravity sensor arranged at the bottom of the mixing barrel, wherein the first torque sensor and the second gravity sensor are connected with the mixing controller.

[0009] The intelligent pump includes a grouting controller, a grouting pipe connected with the grouting controller, a grouting mechanism connected with 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 with the second torque sensor.

[0010] A system main controller is connected with the intelligent feeder, the intelligent mixer, and the intelligent pump.

[0011] In an implementation manner, 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 connected with respective feeding mechanisms, each of which includes a feeding motor, and each of the feeding motors is connected with the feeding controller.

[0012] The system main controller establishes a quality change control algorithm according to first weight data sensed by first gravity sensors below the main material hopper, the auxiliary material hopper, and the water hopper, and controls the feeding controller to quantitatively control respective feeding motors based on the quality change control algorithm, so as to realize intelligent feeding.

[0013] In an implementation manner, the mixing mechanism includes a mixing motor, and the mixing motor is connected with the mixing controller.

[0014] The system main controller establishes an intelligent mixer control algorithm according to first rotation data sensed by the first torque sensor and second weight data sensed by a second gravity sensor, and controls the mixing controller to quantitatively control the mixing motor based on the intelligent mixer control algorithm, so as to set a mixing time.

[0015] In an implementation manner, the grouting mechanism includes a grouting motor, and the grouting motor is connected with the grouting controller.

[0016] The system main controller establishes a relationship model according to second rotation data sensed by the second torque sensor and pressure data sensed by the pressure sensor, and controls the grouting controller to quantitatively control the grouting motor based on the relationship model, so as to set a motor rotation parameter and a grouting pressure parameter.

[0017] In an implementation manner, the intelligent pump further includes an air pump, and the air pump is connected with the grouting controller.

[0018] In a second aspect, the embodiments of the present application further provide a control method applied to the intelligent grouting integrated pump equipment system according to any one of the above-mentioned schemes, and the control method includes the following steps.

[0019] The first weight data sensed by the first gravity sensor below the main material hopper, the auxiliary material hopper and the water hopper is acquired, the system main controller establishes a material quality change control algorithm based on the first weight data, and controls the discharging controller to realize intelligent discharging based on the quality change control algorithm;

[0020] 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 are acquired, 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 acquired, the system main controller establishes a relationship model based on the second rotation data and the pressure data, and controls the grouting controller to quantitatively control the grouting motor based on the relationship model.

[0022] In an implementation mode, the establishment process of the quality change control algorithm includes:

[0023] A weight difference algorithm is established: (∑G tjci -∑G ci )=ΔG ci , wherein ΔG ci is the weight difference of the material hopper, G c0 is the net weight of the main material hopper when i is 0, G c1 is the net weight of the auxiliary material hopper when i is 1, G c2 is the net weight of the water hopper when i is 2, and the net weight of the hopper is a constant; G tjci is an instantaneous weight parameter value, G tjc0 is the weight value of the main material hopper at tj; G tjc1 is the weight value of the auxiliary material hopper at tj; and G tjc2 is the weight value of the water hopper at tj.

[0024] A quality change control algorithm is established: Δm j =∑ΔG ci / g, wherein Δm j is the quality change value of the material hopper, g is a constant 9.8, ΔG c0j is the weight difference of the main material hopper in a certain period when i is 0, ΔG c1j is the weight difference of the auxiliary material hopper in a certain period when i is 1, and ΔG c2j is the weight difference of the water hopper in a certain period when i is 2.

[0025] In an implementation mode, the intelligent stirrer control algorithm is:

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

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

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

[0029] ΔW2=α*ΔF x Where ΔW2 is the change in the second rotation data, α is the correction parameter, and ΔF x denoted as , where x represents the change in grouting port pressure data, and x represents the location of the grouting port.

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

[0031] Air tightness testing was conducted using an air pump in the early stages of grouting.

[0032] Beneficial effects: compared with the prior art, the application provides an intelligent grouting integrated pumping equipment system, which comprises an intelligent feeder, an intelligent mixer, an intelligent pump and a system main controller. The intelligent feeder comprises a feeding controller, a plurality of material hoppers connected with the feeding controller and a feeding mechanism connected with the feeding controller, wherein a first gravity sensor is arranged below each material hopper, and each first gravity sensor is connected with the feeding controller; the intelligent mixer comprises a mixing controller, a mixing mechanism connected with the mixing controller, a first torque sensor arranged in the mixing mechanism and a second gravity sensor arranged at the bottom of the mixing barrel, wherein the first torque sensor and the second gravity sensor are connected with the mixing controller; the intelligent pump comprises a grouting controller, a grouting pipe connected with the grouting controller, a grouting mechanism connected with 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 and the second torque sensor are connected; the system main controller is connected with the intelligent feeder, the intelligent mixer and the intelligent pump. Compared with the traditional grouting pump, the application solves the problems of low efficiency of manual mixing of grouting materials on site, inaccurate mixing ratio or unreasonable time control of manual mixing of grouting materials on site, which leads to poor workability of grouting materials and quality problems, and improves the intelligent construction efficiency of the assembly type building component node sleeve connection hole grouting. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 The structural diagram of the intelligent grouting integrated pumping equipment system provided by the embodiment of the application is provided.

[0034] Figure 2 The structural diagram of the intelligent grouting integrated pumping equipment system provided by the embodiment of the application is provided.

[0035] Figure 3 The structural diagram of the intelligent grouting integrated pumping equipment system provided by the embodiment of the application is provided.

[0036] Figure 4 The flowchart of the preferred embodiment of the control method applied to the intelligent grouting integrated pumping equipment system provided by the embodiment of the application is provided. DETAILED DESCRIPTION

[0037] To make the purpose, technical scheme and effect of the application clearer and more explicit, the application is further described in detail below with reference to the drawings and examples. It should be understood that the specific examples described herein are only used to explain the application and do not limit the application.

[0038] The embodiment provides an intelligent grouting integrated pumping equipment system, which comprises an intelligent feeder, an intelligent mixer, an intelligent pump and a system main controller. Figure 1As shown in the figure, the intelligent grouting integrated pumping equipment system of the embodiment comprises an intelligent feeder, an intelligent mixer, an intelligent pump and a system main controller. The system main controller is connected with the intelligent feeder, the intelligent mixer and the intelligent pump, so that the intelligent feeder, the intelligent mixer and the intelligent pump are intelligently controlled based on the system main controller, the problems of low efficiency of manual mixing and grouting of grouting materials, inaccurate mixing ratio or unreasonable time control of the grouting materials, poor workability of the grouting materials and quality problems are solved, and the intelligent construction efficiency of the grouting of the connection hole of the sleeve pipe of the fabricated building component joint is improved.

[0039] Specifically, the intelligent feeder of the embodiment comprises a feeding controller, a plurality of material hoppers connected with the feeding controller and a feeding mechanism connected with the feeding controller, wherein, as shown in the figure, Figure 2 As shown in the figure, a first gravity sensor is arranged below each material hopper, and each first gravity sensor is connected with the feeding controller. In addition, a feeding mixer and a feeding pipe are further included. In actual application, the material hopper of the embodiment adopts a three-hopper shape, comprising 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 connected with respective feeding mechanisms. Each feeding mechanism comprises a feeding motor, and each feeding motor is connected with the feeding controller. The feeding controller can quantitatively control each feeding motor according to the first weight data sensed by the first gravity sensor below the main material hopper, the auxiliary material hopper and the water hopper, so as to realize precise control of the grouting materials.

[0040] In the embodiment, a single-chip microcomputer PCL is arranged in the system main controller, for controlling the intelligent feeder, the intelligent mixer and the intelligent pump. In addition, a man-machine operation interface can be developed for inputting operation instructions. After receiving the operation instructions, the single-chip microcomputer PCL can execute the control of the intelligent feeder, the intelligent mixer and the intelligent pump. The system main controller of the embodiment further integrates various control algorithms, which are pre-set by programming. Specifically, the programmers write corresponding algorithm programs according to the scheduling requirements of the intelligent feeder, the intelligent mixer and the intelligent pump.

[0041] The system is used for scheduling intelligent feeders, intelligent mixers and intelligent pumps to perform various process flows to realize intelligent grouting. In addition, the system main controller further comprises a communication module to transmit data with the intelligent feeders, the intelligent mixers and the intelligent pumps. Specifically, the discharging controller of the embodiment obtains first weight data sensed by first gravity sensors below the main material hopper, the auxiliary material hopper and the water hopper, and transmits the first weight data to the system main controller. The system main controller can establish a material mass change control algorithm based on the first weight data. The material mass change control algorithm can reflect the weight change of each material hopper, and then control the discharging controller to realize intelligent discharging based on the mass change control algorithm. The establishment process of the material mass change control algorithm is as follows:

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

[0043] Then, a mass change control algorithm is established: Δm j =∑ΔG ci / g, where Δm j is the mass change value of the material hopper, g is a constant 9.8, ΔG c0j is the weight difference of the main material hopper in a certain period when i is 0, ΔG c1j is the weight difference of the auxiliary material hopper in a certain period when i is 1, and ΔG c2jThe weight difference of the water bucket in the j period is denoted as. Based on the mass change control algorithm, the mass change value of each material bucket can be determined, and the discharging motor is controlled based on the mass change control algorithm. Specifically, the discharging 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 discharging motor can be set in advance. In the corresponding relationship table, the rotation parameter corresponding to the interval of the mass change value of each material bucket is set. Therefore, after the mass change value of the material bucket is determined based on the above 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 the corresponding rotation parameter is determined. The discharging motor can be controlled based on the determined rotation parameter. The rotation parameter in this embodiment can be the rotation speed of the discharging motor. Therefore, the rotation speed of the discharging motor can be controlled in this embodiment, and the discharging quality of each material bucket is adjusted, so that the grouting requirements are met and the fine control of discharging is realized.

[0044] Further, the intelligent mixer of the embodiment includes a stirring controller, a stirring mechanism connected with the stirring controller, a first torque sensor arranged in the stirring mechanism, and specifically as shown in Figure 3 two feeding ports and one discharging 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 connected with the stirring controller, the stirring mechanism includes a stirring motor connected with the stirring controller, and further includes an electrode rotating propeller and a stirring blade. Specifically, after 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, the first rotation data and the second weight data are transmitted to a system main controller. The system main controller can establish an intelligent mixer 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 mixer control algorithm.

[0045] Specifically, three feeding ports are arranged on the upper part of the stirring barrel, a motor stirring device is arranged at the bottom of the stirring barrel, a first torque sensor and a rotation shaft angular velocity sensor are arranged inside the stirring barrel, the first rotation data Wj is obtained based on the first torque sensor, and the weight change AG of the mixer is obtained based on the second gravity sensor arranged at the bottom of the stirring barrel fi , and the intelligent mixer control algorithm is established as follows:

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

[0047] wherein, ΔG f is the weight change value of the stirrer, (| (ΔG f -∑ΔG ci ) / g|) is the stirrer correction parameter, specifically, the difference between the weight change ΔG f of the stirrer and the total weight difference of the material hopper is taken as a positive value correction, and β is the correction empirical coefficient, which is obtained based on the relationship between the grouting material and the stirring speed, and the correction empirical coefficient can be obtained by searching the design ratio of the grouting material and the stirring experiment. ΔT is the stirring time change value, W1 is the value of the first rotation data, which can be the rotation torque value of the stirring motor detected by the first torque sensor. Of course, in other implementations, the first torque sensor of the present embodiment can be replaced by a first rotation angular velocity sensor, which can detect the rotation 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 stirrer control algorithm only concern the value, that is, after the value of (∑ΔG ci / g)+∑(|(ΔG f -∑ΔG ci ) / g|) is calculated, combined with the rotation torque value of the stirring motor (i.e. the value of the first rotation data W1) detected by the first torque sensor and the value of the correction empirical coefficient β, the stirring time change value ΔT can be obtained, and the stirring controller can adjust the rotation parameters of the stirring motor, such as adjusting the stirring speed of the stirring motor, thereby achieving control of the stirring time, meeting the requirements of grouting, and realizing fine control of the stirring time of different grouting materials, ensuring that the grouting material is in the best workability.

[0048] Further, the intelligent pump of the present embodiment comprises a grouting controller, a grouting pipe connected with the grouting controller, a grouting mechanism connected with 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 with the second torque sensor. The grouting mechanism comprises a grouting motor connected with the grouting controller. Specifically, after the grouting controller obtains 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 second rotation data and the pressure data are transmitted to the system main controller, which can establish a relationship model based on the second rotation data and the pressure data, and then control the grouting controller to quantitatively control the grouting motor based on the relationship model. Specifically, the relationship model established by the present embodiment is ΔW2=α*ΔF x , wherein ΔW2 is the change value of the second rotation data, i.e. the change value of the rotation data of the grouting motor, α is the correction parameter, and ΔF xThe change value of the pressure data of the grouting port is ΔF, and x is the position of the grouting port. The relationship model can reflect the corresponding relationship between the value of the second rotation data of the grouting motor and the value of the pressure data of the grouting port. Similarly, the second rotation data can be the rotation torque value of the grouting motor detected by the second torque sensor. Of course, in other implementations, the second torque sensor of the embodiment can be replaced by a second rotation angular velocity sensor, which can detect the rotation 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 x of the pressure data of the grouting port are only concerned with the values. After obtaining the change value ΔW2 of the second rotation data, the change value ΔF x of the pressure data of the grouting port can be obtained based on the above relationship model. 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 is, the smaller the pressure data of the grouting port is. Therefore, the embodiment can realize quantitative control of the grouting pressure while meeting the grouting requirements.

[0049] In addition, the intelligent pump of the embodiment further comprises an air pump connected with the grouting controller. The air pump can be used for air tightness detection in the early stage of grouting, so as to better detect and control the pressure data. It can be seen that the embodiment can realize fine control of the pressure of the grouting pipe through the grouting motor and the air pump.

[0050] Based on the above embodiment, the application further provides a control method applied to the intelligent grouting integrated pumping equipment system of the above embodiment, which is specifically shown in the following steps. Figure 4

[0051] Step S100, obtaining the first weight data sensed by the first gravity sensor below each of the main material hopper, the auxiliary material hopper and the water hopper, and establishing a material quality change control algorithm based on the first weight data by the system main controller, and controlling the discharging controller to realize intelligent discharging based on the quality change control algorithm.

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

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

[0054] Then, the embodiment establishes a mass change control algorithm: Δm j =∑ΔG ci / g, wherein, Δm j is the mass change value of the material hopper, g is a constant 9.8, when i is 0, ΔG c0j is the weight difference of the main material hopper in a certain period; when i is 1, ΔG c1j is the weight difference of the auxiliary material hopper in j period; when i is 2, ΔG c2j is the weight difference of the water hopper in j period. Based on the mass change control algorithm, the mass change value of each material hopper can be clearly analyzed, and the discharge motor is controlled by the discharge controller based on the mass change control algorithm. Specifically, the discharge motor in the corresponding material hopper can be adjusted according to the mass change value of each material hopper. The embodiment can pre-set a corresponding relationship table between the mass change value of each material hopper and the rotation parameter of the discharge motor. In the corresponding relationship table, the rotation parameter corresponding to the interval of the mass change value of each material hopper is set. Therefore, after analyzing the mass change value of the material hopper based on the above 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 the corresponding rotation parameter is determined. The discharge controller can control the discharge motor based on the determined rotation parameter. The rotation parameter of the embodiment can be the rotation speed of the discharge motor. Therefore, the embodiment can control the rotation speed of the discharge motor, and then adjust the discharge mass of each material hopper, while meeting the grouting requirements, the fine control of the discharge is realized.

[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 tank. 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 perform quantitative control of the stirring motor based on the intelligent stirrer control algorithm.

[0056] In specific implementation, 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 tank are obtained through the stirring controller. Then, the first rotation data and the second weight data are transmitted to the system main controller. The system main controller can establish an intelligent stirrer control algorithm based on the first rotation data and the second weight data, and then control the stirring controller to perform quantitative control of the stirring motor based on the intelligent stirrer control algorithm.

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

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

[0059] Wherein, ΔG f This is the change in the weight of the mixer, (|(ΔG) f -∑ΔG ci ) / g|) is the stirrer correction parameter, specifically the change in stirrer weight ΔG f The difference between the total weight difference of the material hopper and the total weight difference is corrected by a positive value. β is a correction empirical coefficient, which is obtained based on the relationship between the grouting material and the stirring speed. Specifically, the correction empirical coefficient can be obtained by referring to the design ratio of the grouting material and stirring experiments. ΔT is the stirring time variation value, and W1 is the value of the first rotation data. This first rotation data can be the torque value of the stirring motor detected by the first torque sensor. Of course, in other implementations, the first torque sensor in 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 variation value ΔT in the above intelligent stirrer control algorithm only focus on the numerical value. That is, when (∑ΔG) is calculated... ci / g)+∑(|(ΔG f -∑ΔG ciAfter the value of the first rotation data W1 is obtained, the value of the rotation torque of the stirring motor (i.e., the value of the first rotation data W1) detected by the first torque sensor and the value of the correction empirical coefficient β are combined to obtain the stirring time change value ΔT, and the stirring controller can adjust the rotation parameters of the stirring motor, such as the stirring speed of the stirring motor, to achieve the control of the stirring time, meet the requirements of grouting, and achieve the fine control of the stirring time of different grouting materials, so as to ensure that the grouting material is in the best workability.

[0060] In step S300, 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, the system main controller establishes a relationship model based on the second rotation data and the pressure data, and controls the grouting controller to quantitatively control the grouting motor based on the relationship model.

[0061] In the embodiment, 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 by the grouting controller, then the second rotation data and the pressure data are transmitted to the system main controller, the system main controller establishes a relationship model based on the second rotation data and the pressure data, and controls the grouting controller to quantitatively control the grouting motor based on the relationship model. Specifically, the relationship model established in the embodiment is ΔW2=α*ΔF x , where ΔW2 is the change value of the second rotation data, i.e., the change value of the rotation data of the grouting motor, α is a correction parameter, ΔF x is the change value of the pressure data of the grouting port, and x is the position of the grouting port. The relationship model can reflect the corresponding relationship between the value of the second rotation data of the grouting motor and the value of the pressure data of the grouting port. Similarly, the second rotation data can be the rotation torque value of the grouting motor detected by the second torque sensor. Of course, in other implementations, the second torque sensor of the embodiment can be replaced by a second rotation angular velocity sensor, which can detect the rotation angular velocity of the grouting motor. Similarly, the change value ΔW2 of the second rotation data and the change value ΔF x of the pressure data of the grouting port in the above relationship model only concern the values. After the change value ΔW2 of the second rotation data is obtained, the change value ΔF x of the pressure data of the grouting port can be obtained based on the above relationship model, and the grouting motor can adjust the rotation parameters of the grouting motor, such as the grouting speed of the grouting motor, based on the change value of the pressure data. The slower the grouting speed is, the smaller the pressure data of the grouting port is. Therefore, the embodiment can meet the requirements of grouting and achieve the quantitative control of the grouting pressure.

[0062] In addition, the embodiment can detect the air tightness 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 embodiment can realize fine control of the pressure of the grouting pipe through the grouting motor and the air pump.

[0063] To sum up, compared with the traditional grouting pump, the embodiment solves the problems of low-efficiency construction of manual mixing of grouting materials, inaccurate mixing ratio or unreasonable time control of manual mixing of grouting materials, poor workability of grouting materials and quality problems, and improves the intelligent construction efficiency of the joint sleeve connecting hole of the fabricated building component.

[0064] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An intelligent grouting integrated pumping equipment system, characterized in that, The system comprises: an intelligent feeder comprising a feeding controller, a plurality of material hoppers connected with the feeding controller, and a feeding mechanism connected with the feeding controller, wherein a first gravity sensor is arranged below each material hopper, and each first gravity sensor is connected with the feeding controller; an intelligent stirrer comprising a stirring controller, a stirring mechanism connected with the stirring controller, a first torque sensor arranged in the stirring mechanism, and a second gravity sensor arranged at the bottom of a stirring barrel, wherein the first torque sensor and the second gravity sensor are both connected with the stirring controller; an intelligent pump comprising a grouting controller, a grouting pipe connected with the grouting controller, a grouting mechanism connected with 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 and the second torque sensor are connected; a system main controller connected with the intelligent feeder, the intelligent stirrer, and the intelligent pump; the system main controller is configured to: obtain first weight data sensed by the first gravity sensors below the material hoppers, establish a material quality change control algorithm based on the first weight data, and control the feeding controller to realize intelligent feeding based on the quality change control algorithm; obtain first rotation data sensed by the first torque sensor in the stirring mechanism and second weight data sensed by the second gravity sensor at the bottom of the stirring barrel, establish an intelligent stirrer control algorithm based on the first rotation data and the second weight data, and control the stirring controller to quantitatively control the stirring motor based on the intelligent stirrer control algorithm; obtain second rotation data sensed by the second torque sensor in the grouting mechanism and pressure data sensed by the pressure sensor at the grouting pipe, establish a relationship model based on the second rotation data and the pressure data, and control the grouting controller to quantitatively control the grouting motor based on the relationship model. 2.The intelligentized grouting integrated pumping equipment system according to claim 1, characterized in that, The material hoppers comprise 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 with respective feeding mechanisms, each of which comprises a feeding motor connected with the feeding controller; The system main controller establishes a quality change control algorithm based on the first weight data sensed by the first gravity sensors below the main material hopper, the auxiliary material hopper, and the water hopper, and controls the feeding controller to quantitatively control each feeding motor based on the quality change control algorithm to realize intelligent feeding. 3.The intelligentized grouting integrated pumping equipment system according to claim 1, characterized in that, The stirring mechanism comprises a stirring motor connected with the stirring controller; The system main controller establishes an intelligent stirrer 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 quantitatively control the stirring motor based on the intelligent stirrer control algorithm to set the stirring time.

4. The intelligentized grouting integrated pumping equipment system according to claim 1, characterized in that, The grouting mechanism comprises a grouting motor connected with the grouting controller; The system main controller establishes a relationship model according to 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 quantitatively control the grouting motor based on the relationship model, so as to set the rotation parameters and the grouting pressure parameters of the motor.

5. The intelligentized grouting integrated pumping equipment system according to claim 4, characterized in that, The intelligent pump further comprises an air pump connected with the grouting controller.

6. A control method applied to the intelligent grouting integrated pumping equipment system of any one of claims 1-5, characterized in that, The control method comprises: The system main controller establishes a material quality change control algorithm based on the first weight data, and controls the discharging controller to realize intelligent discharging based on the quality change control algorithm; The system main controller establishes an intelligent mixer control algorithm based on the first rotation data and the second weight data, and controls the mixing controller to quantitatively control the mixing motor based on the intelligent mixer control algorithm; The system main controller establishes a relationship model based on the second rotation data and the pressure data, and controls the grouting controller to quantitatively control the grouting motor based on the relationship model.

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

8. The control method according to claim 7, characterized by, The intelligent mixer control algorithm is: (∑ΔG ci / g)+∑(|(ΔG f -∑ΔG ci ) / g|)=ΔT*W1*β; Wherein, ΔG f is the weight change value of the stirrer, (| (ΔG f -∑ΔG ci ) / g|) is the stirrer correction parameter, specifically, the difference between the stirrer weight change ΔG f and the total weight difference of the material hop is taken as a positive value correction, β is the correction empirical coefficient, ΔT is the stirring time length change value, and W1 is the numerical value of the first rotation data.

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

10. The control method according to claim 6, characterized by The method further comprises: The air tightness is detected by the air pump before grouting.

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