Intelligent pouring system and pouring method for diaphragm wall

Abstract

The invention discloses a diaphragm wall intelligent pouring system and method, the diaphragm wall intelligent pouring system comprises an execution unit and a control unit, the control unit controls the execution unit to execute a pouring action to complete self-service pouring, and the execution unit comprises a transportation assembly device of a pouring pipe and a pouring device used for pouring concrete into the pouring pipe. The pouring pipe with the mark points can be autonomously recognized, and accurate transportation, loading and unloading can be carried out. The stacking positions of the stacked pouring pipes can be automatically judged on the basis of image recognition, the pouring pipe located on the uppermost layer is automatically locked, and automatic clamping from top to bottom is achieved; the tedious process that clamping equipment is manually operated to conduct visual alignment clamping is omitted, and therefore the clamping efficiency of the pouring pipe is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of anti-seepage wall construction equipment and construction control methods, in particular to the technical field of a casting system and a casting method for constructing an anti-seepage wall based on pouring concrete through a casting pipe, and specifically to an intelligent casting system and a casting method for an anti-seepage wall. Background Art

[0002] The process of pouring and constructing the anti-seepage wall mainly includes the following steps: first, site preparation and surveying and laying out are carried out to determine the location and range of the anti-seepage wall; then, slotting equipment (such as grab or rotary drilling rig) is used to excavate slots along the design axis, and mud wall protection is used to prevent the slots from collapsing; after the slots are formed, the holes and the sediment at the bottom of the slots are cleaned to ensure that the quality of the slots meets the requirements; then, prefabricated steel cages or cast-in-place pile steel cages are installed in the slots, and the guide tube is lowered to the bottom of the slots; then, the guide tube method is used to pour concrete, starting from the bottom of the slot and pouring continuously from bottom to top to ensure that the concrete is dense and without faults; during the pouring process, the rising height and fluidity of the concrete are monitored in real time, and the pouring speed and the lifting height of the guide tube are adjusted in time; finally, after the initial setting of the concrete, maintenance is carried out to ensure that the strength and anti-seepage performance of the anti-seepage wall meet the design requirements. The entire construction process requires strict quality control to ensure the continuity and integrity of the anti-seepage wall.

[0003] The pouring of concrete is done by pouring concrete into the slots through multiple interconnected pouring pipes to form an anti-seepage wall. Therefore, in order to ensure the integrity of the anti-seepage wall and avoid the problem of joint leakage in the anti-seepage wall that is solidified in batches, the anti-seepage wall is generally constructed continuously. This special construction method puts forward higher requirements for the installation / disassembly of the pouring pipe. The existing mechanical equipment used for the installation and disassembly of pouring pipes is not unified in the industry. It is usually self-developed and constructed by the leading enterprises in the industry, but almost all of them use lifting equipment or auxiliary machinery to lift the pouring pipe. The installation or disassembly between the pouring pipes is completed by two operators in coordination. This process generally takes a lot of time. For skilled operators, it can usually be completed within 10 minutes; for those who are not familiar with the operation, it will take more time, and it is easy to have problems such as pouring pipe jamming, thread stripping, and tooth extraction. In addition, during the entire pouring process, at least two operators are required to cooperate in the operation. The entire construction process basically relies on manual operation, with large manpower investment and low efficiency. Summary of the invention

[0004] In order to solve the problem that the existing technology of pouring anti-seepage walls mainly relies on manual transportation, installation and disassembly of pouring pipes, which makes it easy for the pouring pipes to be connected slowly and difficultly, and the pouring pipes to be stuck, thereby causing poor continuity of pouring concrete supply and low pouring efficiency, the present application provides an intelligent pouring system and pouring method for anti-seepage walls, which can realize autonomous pouring and can solve the following difficult problems in the pouring process of anti-seepage walls independently without manual cooperation and without relying on the experience of operators.

[0005] 1. The present invention can automatically determine the stacking position of stacked casting pipes based on image recognition, automatically lock the casting pipe located on the top layer, and realize autonomous clamping from top to bottom; it omits the tedious process of manually operating the clamping equipment to perform visual alignment and clamping, thereby greatly improving the clamping efficiency of the casting pipe.

[0006] 2. The present invention provides a transport platform that can realize autonomous transport of casting pipes, can realize any adjustment of the casting pipes in the clamping, front and back, up and down, left and right directions, and can automatically place the casting pipes at the specified coordinate position, and the control accuracy is much higher than the accuracy of manual visual operation.

[0007] 3. As one of the core technical improvements of the present invention, the present invention creatively proposes stress control in the process of pouring pipe connection based on the actual situation of pouring pipe connection, which can effectively ensure the coaxiality between the two connected pouring pipes before connecting the pouring pipes; effectively avoid or even eliminate the problems of long connection time, low efficiency and difficult alignment caused by the misalignment of the pouring pipes; at the same time, greatly reduce the problem of pouring pipe scrapping due to pouring pipe thread slippage.

[0008] In order to achieve the above purpose, the technical solution adopted in this application is:

[0009] An intelligent pouring system for an anti-seepage wall comprises an execution unit and a control unit, wherein the control unit controls the execution unit to execute a pouring action to complete self-service pouring, the execution unit comprises a transport assembly device for a pouring pipe and a pouring device for pouring concrete into the pouring pipe, the transport assembly device comprises a base, a gantry is fixedly mounted on one end of the base, a positioning mechanism is installed close to the gantry and is used to hold the horizontal pouring pipe tightly and adjust it to a vertical state to align with a power head, and a transport platform is slidably mounted on the base and is used to transport the pouring pipe, a power head is slidably mounted on the gantry and is used to drive the pouring pipe to rotate, a floating mechanism for detachably connecting with the pouring pipe is fixedly connected below the power head, and a clamping mechanism B for fixing the pouring pipe is installed below the gantry;

[0010] The control unit includes a binocular camera for collecting pouring pipe position information, a processor for processing information and sending control instructions to the execution unit, a codec for information / signal conversion, and an axial stress sensor for feeding back the axial stress of the power head to the processor and a torque sensor for feeding back the torque.

[0011] Preferably, the power head is slidably arranged on the gantry, and is driven to move up and down along the gantry by a lifting mechanism. The power head includes a slide seat slidably connected to the gantry, a center shaft fixedly arranged on the slide seat and at least one driving motor. The center shaft is rotatably connected to a driven gear sleeved on the outer circumference of the center shaft through at least one bearing, the driven gear is meshed with the driving gear, and the driving gear is drivingly connected to the driving motor, and a connecting flange for connecting the floating mechanism is fixedly arranged on the lower end surface of the driven gear.

[0012] Preferably, the floating mechanism includes a first hollow shaft connected to the power head, a second hollow shaft is mounted on the outer circumference of the first hollow shaft, the first hollow shaft and the second hollow shaft are axially floatingly connected via a plurality of floating bolts distributed in a circular array, and the first hollow shaft is embedded in one end of the second hollow shaft and is sleeved with a guide ring.

[0013] Preferably, the floating bolt includes a screw rod that passes through and connects the first hollow shaft and the second hollow shaft, a nut is connected to the smaller threaded end of the screw rod, and a sleeve for limiting the floating stroke is provided on the screw rod between the first hollow shaft and the second hollow shaft, and between the second hollow shaft and the nut, and a spring in a compressed state is provided on any sleeve.

[0014] Preferably, the base is provided with a first guide rail on both sides along the length direction, and a transport platform for carrying the casting pipe is driven and installed on the first guide rail, and the transport platform includes a mobile bracket as a structural body, and a second guide rail drivingly connected to the mobile platform is provided on the mobile bracket, and the second guide rail intersects the first guide rail vertically in space; the middle part of the mobile platform is also driven and connected to a third guide rail, and the third guide rail vertically penetrates the mobile platform and is connected to a clamping mechanism A for clamping the casting pipe at the lower end.

[0015] Preferably, the clamping mechanism A comprises a crossbeam fixedly connected to the lower end of the third guide rail, two clamping heads for clamping the casting pipe are slidably installed under the crossbeam, and a first telescopic rod for adjusting the relative positions of the two clamping heads is installed between the two clamping heads.

[0016] Preferably, one end of the alignment mechanism is hinged to the base, and the other end is hinged to the base through a second telescopic rod. The alignment mechanism is provided with a clamping chuck for clamping and tightening the casting pipe. The casting pipe clamped on the clamping chuck can achieve horizontal / vertical posture conversion through the extension and retraction of the second telescopic rod.

[0017] The present invention also provides an intelligent pouring method for an anti-seepage wall, which is implemented based on the pouring system described above and comprises the following steps:

[0018] Step STP100, setting marking points on the circumferential side wall of the casting pipe, at least two marking points are set in the axial direction where any marking point is located, at least four marking points are set on the radial circumference where any marking point is located, and the grayscale difference between the color of the marking point and the color of the casting pipe in the grayscale mode is not less than 40;

[0019] Step STP200, collecting bitmap image information of the stacked casting pipes from top to bottom by using an RGB camera of a binocular camera installed on the transport platform, and collecting multiple marking points within the image range by using a color threshold segmentation method;

[0020] Step STP300, the depth information corresponding to each marking point obtained by the depth camera of the binocular camera is used to calculate the coordinates O(X) of the center point of the corresponding casting pipe. center ,Y center ,Z center ), where the coordinates of the center point O of the casting pipe are calculated as follows:

[0021]

[0022] Among them, (X i ,Y i ,Z i ) is the i-th cut marker point D oti The three-dimensional coordinates of, N is the number of marks on the same casting tube;

[0023] Step STP400, according to the multiple depth values ​​Z obtained in step STP300 center , sort them in ascending or descending order, and set the depth value Z center The casting tube with the smallest absolute value of is taken as the target casting tube; if the number of target casting tubes is greater than 1, the X of the target casting tube is set as center The absolute value of the smaller the seat target casting tube;

[0024] Step STP500, the control unit sends a moving instruction to the transport platform, moves the binocular camera installed on the transport platform to the top of the center point O of the target casting pipe and clamps the target casting pipe; then drives the transport platform to move to the end coordinate position preset by the system, and finally executes the pipe release action to place the target casting pipe on the alignment mechanism in a horizontal posture;

[0025] Step STP600, the alignment mechanism holds the pouring pipe tightly and adjusts it to a vertical state, aligns the upper end of the pouring pipe with the power head, and the power head slowly descends along the gantry to contact the pouring head, driving the power head to rotate in the opposite direction. At the same time, the axial stress F is collected in real time through the axial stress sensor and torque sensor. a and torque T, until the axial stress F a The axial stress function F is established after periodic changes with time t a (t),

[0026]

[0027] in, is the maximum value of axial stress, T p is the stress variation cycle, is the offset of the axial stress; σ1, σ2 are the shape parameters of the control function, and σ1>σ2; n is the period of the function, and t1 is the time period dividing point where the function drops rapidly from the maximum value;

[0028] Step STP700, rotate the power head forward according to the preset torque T set Complete the connection between the pouring pipe and the power head; then continue to lower the power head and rotate it in the opposite direction to detect the current axial stress F ′ a Is it subject to the axial stress F in step STP600? a (t); if not, continue to rotate in the opposite direction or manually adjust the alignment of the pouring pipe; if it is compliant, control the power head to rotate forward at a speed of ω, and at the same time detect whether the real-time torque T(t) applied by the current pouring pipe to the fixed pouring pipe below meets the preset requirements.

[0029]

[0030] Among them, T set is the preset torque value, τ is the time constant, which controls the rate of torque increase; if T(t) = T set , then the current pouring pipe connection is completed;

[0031] Step STP800, first loosen the alignment mechanism, then slowly loosen the clamping mechanism B until the clamping force between the clamping mechanism B and the casting pipe is reduced to 0, then stop loosening and keep it for 30 seconds. If the casting pipe moves axially, re-clamp the clamping mechanism B and issue an alarm; if the casting pipe does not move axially, drive the power head to continue to descend to the lowest position, and then clamp the target casting pipe through the clamping mechanism B; the power head reverses, loosens and returns to the top position, and the alignment mechanism returns to a horizontal posture;

[0032] Step STP900, align the pouring device with the upper end of the pouring pipe and pour concrete according to the preset procedure until the pouring amount reaches the preset requirement, and repeat steps STP200-STP800 until the pouring construction is completed.

[0033] Preferably, the speed ω in step STP700 also includes a step of dynamic adjustment, specifically including adjusting the speed ω according to the axial stress F a (t) and the real-time torque T(t);

[0034] According to the axial stress F a (t) The speed ω is dynamically adjusted, and the adjusted speed ω is obtained by the following formula:

[0035]

[0036] in, is the target axial stress value, k F is the feedback coefficient;

[0037] The speed ω is dynamically adjusted according to the real-time torque T(t), and the adjusted speed ω is obtained by the following formula:

[0038] ω=ω base +k T ·(T set -T(t)

[0039] Among them, k T is the torque feedback coefficient.

[0040] Further preferably, step STP700 also includes a step of detecting thread slippage to detect the axial stress F a (t) If there is no regular large change in peak and valley values ​​during the reversal process, it is judged as thread slippage, which is expressed as;

[0041]

[0042] Wherein, λ is the wire slip judgment threshold; and the overload judgment step, when T(t) exceeds the preset safety torque threshold T safe , then the rotation stops immediately and an alarm is issued, which is expressed as If T(t)>T safe , then overload, the power head rotates in the opposite direction and loosens the pouring pipe.

[0043] Beneficial effects:

[0044] 1. The present invention can automatically determine the stacking position of stacked casting pipes based on image recognition, automatically lock the casting pipe located on the top layer, and realize autonomous clamping from top to bottom; it omits the tedious process of manually operating the clamping equipment to perform visual alignment and clamping, thereby greatly improving the clamping efficiency of the casting pipe.

[0045] 2. The present invention provides a transport platform that can realize autonomous transport of casting pipes, can realize any adjustment of the casting pipes in the clamping, front and back, up and down, left and right directions, and can automatically place the casting pipes at the specified coordinate position, and the control accuracy is much higher than the accuracy of manual visual operation.

[0046] 3. As one of the core technical improvements of the present invention, the present invention creatively proposes stress control in the process of pouring pipe connection based on the actual situation of pouring pipe connection, which can effectively ensure the coaxiality between the two connected pouring pipes before connecting the pouring pipes; effectively avoid or even eliminate the problems of long connection time, low efficiency and difficult alignment caused by the misalignment of the pouring pipes; at the same time, greatly reduce the problem of pouring pipe scrapping due to pouring pipe thread slippage. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative labor.

[0048] Figure 1 It is an axonometric diagram of the pouring system structure of the present invention.

[0049] Figure 2 It is the front view of the pouring system structure of the present invention.

[0050] Figure 3 yes Figure 1 Another visual structural axonometric drawing.

[0051] Figure 4 yes Figure 3 Enlarged view of the structure of area A in the middle.

[0052] Figure 5 It is the structural front view of the floating mechanism.

[0053] Figure 6 yes Figure 5 Section view with center cut symbol BB.

[0054] Figure 7 It is the structural axonometric drawing of the power head.

[0055] Figure 8 It is a structural axonometric drawing of the power head and floating device in the installed state.

[0056] In the figure: 1-base; 11-telescopic legs; 12-first guide rail; 2-walking crawler; 3-transport platform; 31-mobile bracket; 32-second guide rail; 33-mobile platform; 4-clamping mechanism A; 41-third guide rail; 42-crossbeam; 43-clamping head; 44-first telescopic rod; 5-alignment mechanism; 51-holding clamp; 52-second telescopic rod; 6-gantry; 7-clamping mechanism B; 8-power head; 81-drive motor; 82-drive gear; 83-driven gear; 84-connecting flange; 85-bearing; 86-center shaft; 9-floating mechanism; 91-first hollow shaft; 92-second hollow shaft; 93-floating bolt; 931-screw; 932-nut; 933-sleeve; 934-spring; 94-guide ring. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0058] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0059] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0060] In the description of this application, it should be noted that if the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the product of the application is usually placed when in use. It is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on this application. In addition, if the terms "first", "second", etc. appear in the description of this application, they are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0061] In addition, if the terms "horizontal" or "vertical" appear in the description of this application, it does not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0062] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0063] Embodiment 1:

[0064] This embodiment provides an intelligent pouring system for an anti-seepage wall, including an execution unit and a control unit. The control unit controls the execution unit to execute the pouring action to complete the self-service pouring. The execution unit includes a transport assembly device for a pouring pipe and a pouring device for pouring concrete into the pouring pipe. Figure 1-Figure 8 As shown, the transport assembly device includes a base 1, a gantry 6 is fixedly installed at one end of the base 1, an alignment mechanism 5 installed near the gantry 6 for holding the horizontal casting pipe tightly and adjusting it to a vertical state to align with the power head 8, and a transport platform 3 slidably installed on the base 1 for transporting the casting pipe, a power head 8 for driving the casting pipe to rotate is slidably installed on the gantry 6, a floating mechanism 9 for detachably connecting with the casting pipe is fixedly connected below the power head 8, and a clamping mechanism B7 for fixing the casting pipe is installed below the gantry 6;

[0065] The control unit includes a binocular camera for collecting pouring pipe position information, a processor for processing information and sending control instructions to the execution unit, a codec for information / signal conversion, and an axial stress sensor for feeding back the axial stress of the power head to the processor and a torque sensor for feeding back the torque.

[0066] Working and structural principle:

[0067] The control unit is a control center that integrates information collection, mainly image information, data processing and control signal sending. This part belongs to the prior art. The difference lies in the control logic and control algorithm of the present invention. It is invented for the pouring of anti-seepage walls and is suitable for autonomous and intelligent pouring logic programs; it can better control the execution unit to execute the positioning, clamping, alignment, loading and unloading and pouring of the pouring pipe.

[0068] See Figure 2-Figure 3 As shown, the base 1 is the structural support base of the entire pouring system, and the transport platform 3 is used to clamp the stacked pouring pipes one by one and transport them to the alignment mechanism 5, and the pouring pipes are changed from a horizontal state to a vertical state and aligned with the power head 8 through the alignment mechanism 5; the power head 8 can move up and down along the gantry 6, and is used to connect the pouring pipes to be installed, and drive the pouring pipes to move up and down, and connect with the pouring pipes that have been installed and clamped on the clamping mechanism B7 below; at the same time, when the power head 8 disassembles the pouring pipe, it can also realize the disassembly and lifting of the pouring pipe by cooperating with the clamping mechanism B7. The lifting drive device of the power head 8 is preferably driven by a dual power device, that is, it can be realized by combining a screw thread sleeve structure or a gear rack structure with a winch lifting structure, so as to meet a larger power demand, especially the pouring pipe lifting process, which requires a larger power demand. Of course, the power device for driving the power head 8 to move up and down along the gantry 6 proposed in this embodiment is only an example, and those skilled in the art can still seek other existing and suitable solutions under the concept disclosed in the present invention.

[0069] Embodiment 2:

[0070] This embodiment is based on the embodiment 1, and further refines the structure. Specifically, the power head 8 is slidably arranged on the gantry 6, and the power head 8 is driven to move up and down along the gantry 6 by the lifting mechanism. The power head 8 includes a slide seat slidably connected to the gantry 6, a central shaft 86 fixedly arranged on the slide seat, and at least one driving motor 81. The central shaft 86 is rotatably connected to a driven gear 83 sleeved on the outer circumference of the central shaft 86 through at least one bearing 85. The driven gear 83 is meshed with a driving gear 82, and the driving gear 82 is drivingly connected to the driving motor 81. A connecting flange 84 for connecting the floating mechanism 9 is fixedly arranged on the lower end surface of the driven gear 83. When the power head 8 is working, the driving gear 82 is driven by the driving motor 81 to drive the driven gear 83, and the driven gear 83 drives the floating mechanism 9 to rotate through the connecting flange 84. Due to the rigid drive of the gear set, the rotation direction of the power head 8 can be very conveniently controlled by the forward and reverse rotation of the driving motor 81, so as to flexibly realize forward or reverse rotation, and realize tightening and loosening connection. It is worth noting that in order to obtain greater driving force and greater driving torque, the driving motor 81 may also be replaced by a hydraulic motor.

[0071] In this embodiment, the floating mechanism 9 includes a first hollow shaft 91 connected to the power head 8, a second hollow shaft 92 is sleeved on the outer circumference of the first hollow shaft 91, the first hollow shaft 91 and the second hollow shaft 92 are axially floatingly connected through a plurality of floating bolts 93 distributed in a circumferential array, and the first hollow shaft 91 is embedded in one end of the second hollow shaft 92 and sleeved with a guide ring 94. There is an axial movement gap between the first hollow shaft 91 and the second hollow shaft 92, and under the floating elastic force of the floating bolts 93, a small range of floating in the axial and radial directions can be achieved, which can effectively reduce the difficulty of direct rigid alignment connection between the casting pipe and the power head 8 and improve the connection efficiency.

[0072] The floating bolt 93 is one of the key components that determines the floating performance between the first hollow shaft 91 and the second hollow shaft 92. The floating bolt 93 includes a screw 931 that penetrates and connects the first hollow shaft 91 and the second hollow shaft 92. The smaller threaded end of the screw 931 is connected to a nut 932. The screw 931 is provided with a sleeve 933 for limiting the floating stroke between the first hollow shaft 91 and the second hollow shaft 92, and between the second hollow shaft 92 and the nut 932. A spring 934 in a compressed state is provided on any sleeve 933. The spring 934 can provide elastic reset capability in real time. The sleeve 933 is used to limit the axial floating distance between the first hollow shaft 91 and the second hollow shaft 92 to avoid excessive floating amount that will lead to a reduction in torque transmission. The use of multiple floating bolts 93 distributed in an array can make the floating direction 360°, and can float and tilt to any side. Under the action of the array floating bolts 93, the first hollow shaft 91 and the second hollow shaft 92 are subjected to very uniform force without stress concentration.

[0073] In order to better move the pouring pipe forward and backward, left and right, and up and down, in this embodiment, the base 1 is provided with a first guide rail 12 on both sides along the length direction, and a transport platform 3 for carrying the pouring pipe is driven and installed on the first guide rail 12, and the transport platform 3 includes a mobile bracket 31 as a structural main body, and a second guide rail 32 is provided on the mobile bracket 31, which is driven and connected to the mobile platform 33, and the second guide rail 32 and the first guide rail 12 are vertically intersected in space; the middle of the mobile platform 33 is also driven and connected to a third guide rail 41, and the third guide rail 41 vertically penetrates the mobile platform 33 and is connected to a clamping mechanism A4 for clamping the pouring pipe at the lower end. It is worth noting that, in order to ensure the accuracy of movement, the first guide rail 12, the second guide rail 32 and the third guide rail 41 are all metal guide rails with racks, and the function of the guide rails is to ensure the linearity of sliding; the function of the rack is that the gear meshing with the rack is driven by a power device, such as a stepping motor, a servo motor, etc., so that very precise movement control can be achieved. Due to the large size of the pouring pipe, the driving error of the gear rack combination is sufficient to meet the transportation accuracy requirements of the pouring pipe.

[0074] See also Figure 4 As shown, the clamping mechanism A4 includes a crossbeam 42 fixedly connected to the lower end of the third guide rail 41, and two clamping heads 43 for clamping the casting pipe are slidably installed below the crossbeam 42, and a first telescopic rod 44 for adjusting the relative position of the two clamping heads 43 is installed between the two clamping heads 43. The two clamping heads 43 adjust the relative position through the first telescopic rod 44, so as to meet the clamping requirements of casting pipes of different sizes. When clamping a longer casting pipe, the distance between the two clamping heads 43 can be adjusted to the maximum; conversely, for a shorter casting pipe, the distance between the two clamping heads 43 can be shortened. In this embodiment, one end of the alignment mechanism 5 is hinged to the base 1, and the other end is hinged to the base 1 through the second telescopic rod 52. The alignment mechanism 5 is provided with a clamping clamp 51 for clamping and tightening the casting pipe. The casting pipe clamped on the clamping clamp 51 can achieve horizontal / vertical posture conversion through the extension and contraction of the second telescopic rod 52.

[0075] Embodiment 3:

[0076] The present invention also provides an intelligent pouring method for an anti-seepage wall. Based on any of the above embodiments, the pouring system is implemented, comprising the following steps:

[0077] Step STP100, setting marking points on the circumferential side wall of the casting pipe, at least two marking points are set in the axial direction where any marking point is located, at least four marking points are set on the radial circumference where any marking point is located, and the grayscale difference between the color of the marking point and the color of the casting pipe in the grayscale mode is not less than 40; for example, at the same circumferential position, 6 marking points are distributed in a circular array, the arc between two adjacent marking points is 60°, and there are three groups on each casting pipe, that is, along the axial direction of the casting pipe, there are 3 marking points on the axis where the circumferential side wall position where any marking point is located.

[0078] Step STP200, collects bitmap image information of the stacked casting pipes from top to bottom through the RGB camera of the binocular camera installed on the transport platform 3, and collects multiple marking points within the image range using the color threshold segmentation method; the color or gray value segmentation algorithm can use an existing open source library, such as the Otsu algorithm, or it can be based on an edge segmentation algorithm, such as Canny, Sobel operator or Laplacian operator algorithm.

[0079] Step STP300, the depth information corresponding to each marking point obtained by the depth camera of the binocular camera is used to calculate the coordinates O(X) of the center point of the corresponding casting pipe. center ,Y center ,Z center ), where the coordinates of the center point O of the casting pipe are calculated as follows:

[0080]

[0081] Among them, (X i ,Y i ,Z i ) is the i-th cut marker point D oti The three-dimensional coordinates of, N is the number of marks on the same casting tube;

[0082] Step STP400, according to the multiple depth values ​​Z obtained in step STP300 center , sort them in ascending or descending order, and set the depth value Z center The casting tube with the smallest absolute value of is taken as the target casting tube; if the number of target casting tubes is greater than 1, the X of the target casting tube is set as center The absolute value of the smaller the seat target casting tube;

[0083] Step STP500, the control unit sends a moving instruction to the transport platform 3, moves the binocular camera installed on the transport platform 3 to the top of the center point O of the target casting pipe and clamps the target casting pipe; then drives the transport platform 3 to move to the end coordinate position preset by the system, and finally executes the pipe release action to place the target casting pipe on the alignment mechanism 5 in a horizontal posture;

[0084] Step STP600, the alignment mechanism 5 holds the pouring pipe tightly and adjusts it to a vertical state, aligns the upper end of the pouring pipe with the power head 8, and the power head 8 slowly descends along the gantry 6 to contact the pouring head, driving the power head 8 to rotate in the opposite direction. At the same time, the axial stress F is collected in real time through the axial stress sensor and the torque sensor. a and torque T, until the axial stress F a The axial stress function F is established after periodic changes with time t a (t),

[0085]

[0086] in, is the maximum value of axial stress, T p is the stress variation cycle, is the offset of the axial stress; σ1, σ2 are the shape parameters of the control function, and σ1>σ2; n is the period of the function, and t1 is the time period dividing point where the function drops rapidly from the maximum value;

[0087] Step STP700, the power head 8 is rotated forward according to the preset torque T set Complete the connection between the pouring pipe and the power head; then continue to lower the power head 8 and rotate the power head 8 in the opposite direction to detect the current axial stress F ′ a Is it subject to the axial stress F in step STP600? a (t); if not, continue to rotate in the opposite direction or manually adjust the alignment of the pouring pipe; if it is compliant, control the power head to rotate forward at a speed of ω, and at the same time detect whether the real-time torque T(t) applied by the current pouring pipe to the fixed pouring pipe below meets the preset requirements.

[0088]

[0089] Among them, T set is the preset torque value, τ is the time constant, which controls the rate of torque increase; if T(t) = T set , then the current pouring pipe connection is completed;

[0090] Step STP800, first loosen the alignment mechanism 5, then slowly loosen the clamping mechanism B7 until the clamping force between the clamping mechanism B7 and the casting pipe is reduced to 0, then stop loosening and keep it for 30 seconds. If the casting pipe moves axially, re-clamp the clamping mechanism B7 and issue an alarm; if the casting pipe does not move axially, drive the power head 8 to continue to descend to the lowest position, and then clamp the target casting pipe through the clamping mechanism B7; the power head 8 reverses to loosen and retreats to the top position, and the alignment mechanism 5 returns to a horizontal posture;

[0091] Step STP900, align the pouring device with the upper end of the pouring pipe and pour concrete according to the preset procedure until the pouring amount reaches the preset requirement, and repeat steps STP200-STP800 until the pouring construction is completed.

[0092] In this embodiment, the speed ω in step STP700 also includes a step of dynamic adjustment, specifically including adjusting the speed ω according to the axial stress F a (t) and the real-time torque T(t);

[0093] According to the axial stress F a (t) The speed ω is dynamically adjusted, and the adjusted speed ω is obtained by the following formula:

[0094]

[0095] in, is the target axial stress value, k F is the feedback coefficient;

[0096] The speed ω is dynamically adjusted according to the real-time torque T(t), and the adjusted speed ω is obtained by the following formula:

[0097] ω=ω base +k T ·(T set -T(t)

[0098] Among them, k T is the torque feedback coefficient.

[0099] Furthermore, step STP700 also includes a step of detecting thread slippage, detecting the axial stress F a (t) If there is no regular large change in peak and valley values ​​during the reversal process, it is judged as thread slippage, which is expressed as;

[0100]

[0101] Wherein, λ is the wire slip judgment threshold; and the overload judgment step, when T(t) exceeds the preset safety torque threshold T safe , then the rotation stops immediately and an alarm is issued, which is expressed as If T(t)>T safe , then overload, the power head 8 rotates in the opposite direction and loosens from the pouring pipe.

[0102] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An intelligent pouring system for an anti-seepage wall, comprising an execution unit and a control unit, wherein the control unit controls the execution unit to execute a pouring action to complete self-service pouring, characterized in that: The execution unit comprises a transport assembly device for a casting pipe and a casting device for pouring concrete into the casting pipe, wherein the transport assembly device comprises a base (1), a gantry (6) is fixedly mounted on one end of the base (1), an alignment mechanism (5) installed near the gantry (6) for holding the horizontal casting pipe tightly and adjusting it to a vertical state to align with a power head (8), and a transport platform (3) slidably mounted on the base (1) for transporting the casting pipe, a power head (8) for driving the casting pipe to rotate is slidably mounted on the gantry (6), a floating mechanism (9) for detachably connecting to the casting pipe is fixedly connected below the power head (8), and a clamping mechanism B (7) for fixing the casting pipe is installed below the gantry (6); The control unit includes a binocular camera for collecting pouring pipe position information, a processor for processing information and sending control instructions to the execution unit, a codec for information / signal conversion, and an axial stress sensor for feeding back the axial stress of the power head to the processor and a torque sensor for feeding back the torque.

2. The intelligent pouring system for anti-seepage wall according to claim 1, characterized in that: The power head (8) is slidably arranged on the gantry (6), and is driven by a lifting mechanism to move up and down along the gantry (6). The power head (8) comprises a slide seat slidably connected to the gantry (6), a central shaft (86) fixedly arranged on the slide seat, and at least one driving motor (81). The central shaft (86) is rotationally connected to a driven gear (83) sleeved on the outer circumference of the central shaft (86) through at least one bearing (85). The driven gear (83) is meshed with a driving gear (82), and the driving gear (82) is drivingly connected to the driving motor (81). A connecting flange (84) for connecting to the floating mechanism (9) is fixedly arranged on the lower end surface of the driven gear (83).

3. The intelligent pouring system for anti-seepage wall according to claim 1 is characterized in that: The floating mechanism (9) comprises a first hollow shaft (91) connected to the power head (8); a second hollow shaft (92) is sleeved on the outer circumference of the first hollow shaft (91); the first hollow shaft (91) and the second hollow shaft (92) are axially floatingly connected via a plurality of floating bolts (93) distributed in a circumferential array; the first hollow shaft (91) is embedded in one end of the second hollow shaft (92) and sleeved with a guide ring (94).

4. The intelligent pouring system for anti-seepage wall according to claim 3 is characterized in that: The floating bolt (93) includes a screw rod (931) that passes through and connects the first hollow shaft (91) and the second hollow shaft (92); a nut (932) is connected to the smaller threaded end of the screw rod (931); sleeves (933) for limiting the floating stroke are sleeved on the screw rod (931) between the first hollow shaft (91) and the second hollow shaft (92), and between the second hollow shaft (92) and the nut (932); and a spring (934) in a compressed state is sleeved on any sleeve (933).

5. The intelligent pouring system for anti-seepage wall according to claim 1, characterized in that: The base (1) is provided with first guide rails (12) on both sides along the length direction, and a transport platform (3) for carrying a casting pipe is driven and installed on the first guide rail (12), and the transport platform (3) includes a mobile bracket (31) as a structural body, and a second guide rail (32) is provided on the mobile bracket (31) and is driven and connected to the mobile platform (33), and the second guide rail (32) and the first guide rail (12) are vertically intersected in space; the middle part of the mobile platform (33) is also driven and connected to a third guide rail (41), and the third guide rail (41) vertically penetrates the mobile platform (33) and is connected to a clamping mechanism A (4) for clamping the casting pipe at the lower end.

6. The intelligent pouring system for anti-seepage wall according to claim 5, characterized in that: The clamping mechanism A (4) comprises a crossbeam (42) fixedly connected to the lower end of the third guide rail (41), two clamping heads (43) for clamping the casting pipe are slidably installed below the crossbeam (42), and a first telescopic rod (44) for adjusting the relative positions of the two clamping heads (43) is installed between the two clamping heads (43).

7. The intelligent pouring system for anti-seepage wall according to claim 1, characterized in that: One end of the alignment mechanism (5) is hinged to the base (1), and the other end is hinged to the base (1) via a second telescopic rod (52). The alignment mechanism (5) is provided with a clamping chuck (51) for clamping and tightening the casting pipe. The casting pipe clamped on the clamping chuck (51) can achieve horizontal / vertical posture conversion through the extension and retraction of the second telescopic rod (52).

8. An intelligent pouring method for an anti-seepage wall, implemented based on the pouring system according to any one of claims 1 to 7, characterized in that: The following steps are included Step STP100, setting marking points on the circumferential side wall of the casting pipe, at least two marking points are set in the axial direction where any marking point is located, at least four marking points are set on the radial circumference where any marking point is located, and the grayscale difference between the color of the marking point and the color of the casting pipe in the grayscale mode is not less than 40; Step STP200, collecting bitmap image information of the stacked casting pipes from top to bottom by using an RGB camera of a binocular camera installed on the transport platform (3), and collecting multiple marking points within the image range by using a color threshold segmentation method; Step STP300, the depth information corresponding to each marking point obtained by the depth camera of the binocular camera is used to calculate the coordinates O(X) of the center point of the corresponding casting pipe. center ,Y center ,Z center ), where the coordinates of the center point O of the casting pipe are calculated as follows: Among them, (X i ,Y i ,Z i ) is the i-th cut marker point D oti The three-dimensional coordinates of, N is the number of marks on the same casting tube; Step STP400, according to the multiple depth values ​​Z obtained in step STP300 center , sort them in ascending or descending order, and set the depth value Z center The casting tube with the smallest absolute value of is taken as the target casting tube; if the number of target casting tubes is greater than 1, the X of the target casting tube is set as center The absolute value of the smaller the seat target casting tube; Step STP500, the control unit sends a movement instruction to the transport platform (3), moves the binocular camera installed on the transport platform (3) to the top of the center point O of the target casting pipe and clamps the target casting pipe; then drives the transport platform (3) to move to the end coordinate position preset by the system, and finally executes the pipe release action to place the target casting pipe on the alignment mechanism (5) in a horizontal posture; Step STP600, the alignment mechanism (5) holds the pouring pipe tightly and adjusts it to a vertical state, aligns the upper end of the pouring pipe with the power head (8), and the power head (8) slowly descends along the gantry (6) to contact the pouring head, driving the power head (8) to rotate in the opposite direction. At the same time, the axial stress F is collected in real time through the axial stress sensor and the torque sensor. a and torque T, until the axial stress F a The axial stress function F is established after periodic changes with time t a (t), in, is the maximum value of axial stress, T p is the stress variation cycle, is the offset of the axial stress; σ1, σ2 are the shape parameters of the control function, and σ1>σ2; n is the period of the function, and t1 is the time period dividing point where the function drops rapidly from the maximum value; Step STP700, the power head (8) is rotated forward according to the preset torque T set Complete the connection between the pouring pipe and the power head; then continue to lower the power head (8) and rotate the power head (8) in the opposite direction to detect the current axial stress F ′ a Is it subject to the axial stress F in step STP600? a (t); if not, continue to rotate in the opposite direction or manually adjust the alignment of the pouring pipe; if it is compliant, control the power head to rotate forward at a speed of ω, and at the same time detect whether the real-time torque T(t) applied by the current pouring pipe to the fixed pouring pipe below meets the preset requirements. Among them, T set is the preset torque value, τ is the time constant, which controls the rate of torque increase; if T(t) = T set , then the current pouring pipe connection is completed; Step STP800, first loosen the alignment mechanism (5), then slowly loosen the clamping mechanism B (7) until the clamping force between the clamping mechanism B (7) and the casting pipe is reduced to 0, then stop loosening and keep it for 30 seconds. If the casting pipe moves axially, re-clamp the clamping mechanism B (7) and issue an alarm; if the casting pipe does not move axially, drive the power head (8) to continue to descend to the lowest position, and then clamp the target casting pipe through the clamping mechanism B (7); the power head (8) reverses to loosen and retreats to the topmost position, and the alignment mechanism (5) returns to a horizontal posture; Step STP900, align the pouring device with the upper end of the pouring pipe and pour concrete according to the preset procedure until the pouring amount reaches the preset requirement, and repeat steps STP200-STP800 until the pouring construction is completed.

9. The intelligent pouring method for anti-seepage wall according to claim 8, characterized in that: The speed ω in step STP700 also includes a step of dynamic adjustment, specifically including adjusting the speed ω according to the axial stress F a (t) and the real-time torque T(t); According to the axial stress F a (t) The speed ω is dynamically adjusted, and the adjusted speed ω is obtained by the following formula: in, is the target axial stress value, k F is the feedback coefficient; The speed ω is dynamically adjusted according to the real-time torque T(t), and the adjusted speed ω is obtained by the following formula: oh = oh base +k T ·(T set -T(t)) Among them, k T is the torque feedback coefficient.

10. The intelligent pouring method for anti-seepage wall according to claim 8, characterized in that: Step STP700 also includes a step of detecting thread slippage, detecting the axial stress F a (t) If there is no regular large change in peak and valley values ​​during the reversal process, it is judged as thread slippage, which is expressed as; Wherein, λ is the wire slip judgment threshold; and the overload judgment step, when T(t) exceeds the preset safety torque threshold T safe , then the rotation stops immediately and an alarm is issued, which is expressed as If T(t)>T safe , then overload, the power head (8) rotates in the opposite direction and becomes loose from the pouring pipe.

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