Intelligent and accurate control system for setting accelerator of wet spraying bench and setting accelerator displacement algorithm

Abstract

The invention relates to an intelligent and accurate control system for a wet spraying platform vehicle accelerator and an accelerator displacement algorithm. The intelligent and accurate control system comprises a detection mechanism, wherein the detection mechanism comprises a concrete flow detection unit, an accelerator detection unit, a boom posture detection unit, a spray gun posture detection unit and a compressed air detection unit; the theoretical value Qs6 of the displacement of the accelerator is obtained by combining the accelerator concentration value condition, the temperature influence coefficient k2, the pressure influence coefficient k3, the flow influence coefficient k4, the distance influence coefficient k5 and the angle influence coefficient k6, and the control unit controls the accelerator adding mechanism, the air compression transmission mechanism, the pumping mechanism and the arm support adjusting mechanism to work according to the theoretical value Qs6 of the displacement of the accelerator. A small number of sensors are used for detecting the concrete spraying operation, the wet spraying trolley is controlled in combination with an accelerator displacement algorithm, and the adding amount of the accelerator is matched with the actual operation requirement.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel construction, and in particular to an intelligent and precise control system for an accelerating setting agent on a wet spraying platform and an accelerating setting agent displacement algorithm. Background Art

[0002] During the operation of the wet spraying trolley, the amount of accelerator added plays a vital role in the quality of shotcrete. When the amount of accelerator added is appropriate, the concrete can reach a certain strength in a short time and improve the durability of the concrete. Too much accelerator will lead to the loss of strength of the concrete in the later stage. When the amount of accelerator added is insufficient, the setting time of the concrete will be longer, and it will not be able to set in time after being sprayed on the working surface, and there will be phenomena such as flowing and sliding, which will not form an effective support structure and cannot guarantee the design strength of the concrete. The appropriate amount of accelerator added can effectively reduce the rebound rate of the concrete. If the amount of accelerator added is too little, the cohesion of the concrete is poor, it is easy to disperse during the spraying process, and the rebound rate will increase significantly. However, if the amount of accelerator added is too much, although the concrete can set quickly, it may start to solidify at the nozzle due to too fast setting, blocking the nozzle, affecting the continuity of the spraying, and at the same time making the workability of the concrete worse, indirectly increasing the rebound rate.

[0003] During the concrete spraying operation of the wet spraying trolley, the amount of accelerator added is crucial to the quality of the sprayed concrete. However, the traditional method of adding accelerators often has many problems. For example, it is difficult to ensure the accuracy and stability of the amount of accelerator added by manual addition, and it is easily affected by human factors, resulting in excessive or insufficient addition of accelerator. Too much accelerator will reduce the later strength of concrete, increase costs and affect durability, while too little will make the concrete setting time too long and the rebound rate high. Some existing semi-automatic addition systems dynamically adjust the amount of accelerator added by installing flow sensors in the pipeline to detect the real-time flow of concrete and installing encoders at each joint of the boom to detect the boom posture. However, the on-site working conditions are harsh and dusty. The flow sensors in the concrete pumping pipeline and the flow sensors at the accelerator pump are prone to wear, corrosion and damage, and cannot be used normally for a long time. At the same time, the existing accelerator flow detection methods have many shortcomings. For example, some traditional flow meters have low accuracy when measuring accelerators with high viscosity and complex components, and are easily affected by impurities in the accelerator, resulting in inaccurate measurement results. In addition, some detection methods cannot provide real-time feedback on flow information and cannot meet the needs of fast and precise adjustment of the flow rate of the accelerator in automated construction. Installing encoders at each joint of the boom and calculating the boom posture through kinematic control requires high software algorithm calculations. At the same time, if too many sensors are installed, any sensor failure may cause the equipment to fail to work properly. Summary of the invention

[0004] The present invention aims to solve the problem that the amount of the accelerating agent added to the existing wet spraying platform is difficult to be accurately controlled according to the working conditions.

[0005] An intelligent and precise control system for accelerating setting agent of wet spraying trolley and an accelerating setting agent displacement algorithm are proposed. A small number of sensors are used to detect the concrete spraying operation and the wet spraying trolley is controlled by combining with the accelerating setting agent displacement algorithm. The amount of accelerating setting agent added is matched with the actual operation needs.

[0006] In order to achieve the above-mentioned purpose, the present invention provides a first aspect of an intelligent and precise control system for a wet spraying trolley accelerating agent, including a pumping mechanism, an accelerating agent adding mechanism, an air compression transmission mechanism, an arm adjustment mechanism and a control unit, and also includes a detection mechanism, wherein the detection mechanism includes a concrete flow detection unit, an accelerating agent detection unit, an arm posture detection unit, a spray gun posture detection unit and a compressed air detection unit;

[0007] The concrete flow detection unit is used to detect the flow of the pumping mechanism, and the concrete detection unit is connected to the control unit. The accelerator detection unit is used to detect the accelerator flow, accelerator concentration and accelerator temperature, and the accelerator detection unit is connected to the control unit. The boom posture detection unit is used to detect the boom posture, and the boom posture detection unit is connected to the control unit. The spray gun posture detection unit is used to detect the spray gun posture, and the spray gun posture detection unit is connected to the control unit. The compressed air detection unit is used to detect the pipeline pressure, and the compressed air detection unit is connected to the control unit;

[0008] The control unit is used to control the operation of the quick-setting agent adding mechanism, the air compression transmission mechanism, the pumping mechanism and the boom adjustment mechanism.

[0009] Furthermore, the pumping mechanism comprises a concrete trailer pump, the concrete trailer pump comprises a pumping oil cylinder, a concrete cylinder and a piston, the pumping oil cylinder drives the piston to reciprocate in the concrete cylinder, and the concrete trailer pump is provided with a water tank;

[0010] The concrete flow detection unit includes a liquid level sensor, a proximity switch A, a proximity switch B, a proximity switch C, and a proximity switch D. The liquid level sensor is arranged in the water tank and is used to detect the liquid level in the water tank;

[0011] Proximity switches A and B are installed on the concrete cylinder near the top of the water tank, and proximity switches C and D are installed at the end of the concrete cylinder;

[0012] The liquid level sensor, proximity switch A, proximity switch B, proximity switch C, and proximity switch D are electrically connected to the control unit respectively.

[0013] Since the concrete pump conveys concrete, traditional flow sensors are difficult to install and it is difficult to accurately detect the flow rate due to uneven concrete. Since the inner diameter of the concrete cylinder is a fixed value, the pumping flow rate is only related to the piston movement speed. The piston position is obtained through proximity switch A and proximity switch B, or proximity switch C and proximity switch D, and the piston operation speed is obtained by combining timing control, and then the pumping flow rate is obtained. Setting two sets of proximity switches improves the reliability of system detection.

[0014] Further, the quick-setting agent flow detection unit includes an quick-setting agent concentration sensor, a temperature sensor A, a temperature sensor B and a rotation speed sensor;

[0015] The accelerator adding mechanism includes an accelerator barrel and an accelerator pump. A temperature sensor A is arranged in the middle of the accelerator barrel, a temperature sensor B is arranged at the bottom of the accelerator barrel, an accelerator concentration sensor is arranged at the outlet position of the accelerator barrel, the accelerator barrel and the accelerator pump are connected by a hose, and the accelerator pump is provided with a rotation speed sensor;

[0016] The quick-setting agent concentration sensor, the temperature sensor A, the temperature sensor B and the rotation speed sensor are electrically connected to the control unit respectively.

[0017] The temperature and concentration of the accelerator are crucial parameters of the accelerator. The optimal amount and timing of the accelerator addition can be determined by comprehensively considering the physicochemical properties of the accelerator and the current construction environment requirements. Temperature stratification will occur in environments where the accelerator is left standing for a long time or the temperature changes greatly. Two temperature sensors are set to detect the temperature of the accelerator.

[0018] Further, the arm posture detection unit includes an inclination sensor A and an inclination sensor B;

[0019] The spray gun posture detection unit includes an angle encoder A, an angle encoder B and a distance sensor;

[0020] The arm adjustment mechanism comprises an upper arm, a lower arm and a spray gun mounting seat, the lower arm is connected to the upper arm, a first rotating platform and a second rotating platform are arranged on the lower arm, the first rotating platform is fixed to the lower arm and is rotationally connected to the second rotating platform, the second rotating platform is rotationally connected to the spray gun mounting seat, and a spray gun is arranged on the spray gun mounting seat;

[0021] The first rotating platform is provided with an angle encoder A, the second rotating platform is provided with an angle encoder B, the end of the upper arm is provided with an inclination sensor A, the end of the lower arm is provided with an inclination sensor B, and the end of the nozzle is provided with a distance sensor;

[0022] The inclination sensor A, the inclination sensor B, the distance sensor, the angle encoder A and the angle encoder B are all electrically connected to the control unit.

[0023] Only one inclination sensor is installed at the end of the upper arm and the end of the lower arm, an angle encoder is set on the first rotating platform and the second rotating platform, and a distance sensor is installed at the end of the nozzle. There is no need to install sensors on each joint of the arm frame, thereby reducing the number of sensors.

[0024] Further, the compressed air detection unit includes a pressure sensor A, a pressure sensor B, a temperature sensor C, a temperature sensor D and a flow sensor;

[0025] The air compression transmission mechanism includes an air compressor, a main pipeline and a connecting pipeline, the outlet of the air compressor is connected to the connecting pipeline, the connecting pipeline is connected to the main pipeline, the main pipeline is connected to a branch pipeline, and the branch pipeline is connected to the spray gun;

[0026] A pressure sensor A is installed at the connection position between the connecting pipe and the air compressor, a flow sensor and a temperature sensor C are installed at the connection position between the connecting pipe and the main pipe, and a pressure sensor B and a temperature sensor D are installed at the connection position between the main pipe and the branch pipe;

[0027] The pressure sensor A, the pressure sensor B, the temperature sensor C, the temperature sensor D and the flow sensor are all electrically connected to the control unit.

[0028] Furthermore, the control unit includes a data receiving and processing unit, a data analysis and decision-making unit, a storage unit and a communication unit;

[0029] The data receiving and processing unit is respectively connected with the concrete flow detection unit, the quick-setting agent flow detection unit, the boom posture detection unit, the spray gun posture detection unit and the compressed air detection unit for signal collection and signal processing;

[0030] The data receiving and processing unit is connected to the data analyzing and decision-making unit. The data analyzing and decision-making unit includes a controller. The controller is communicatively connected to the storage unit and the communication unit.

[0031] The second aspect of the present invention provides an algorithm for discharging an accelerating agent of a wet spraying platform, comprising:

[0032] Step 1: Calculate the concrete flow rate Qc according to the concrete flow detection unit. The cement ratio in the concrete is known, and the cement content Qm in the concrete is obtained. The density of the accelerator is known to be ρ. According to the operation requirements and the performance of the accelerator, the theoretical volume ratio of the accelerator dosage to the cement in the concrete is set to k0, and the theoretical value of the accelerator discharge Qs0 is calculated;

[0033] Step 2: According to the accelerator flow detection unit, the accelerator concentration value C is obtained. The accelerator concentration setting value C0 is known. When C≠C0, the theoretical value Qs0 of the accelerator displacement is corrected to obtain Qs1. According to the accelerator flow detection unit, the accelerator temperature value T is obtained. According to the accelerator temperature setting value T0 is known. When T≠T0, the theoretical value Qs1 of the accelerator displacement is corrected to obtain Qs2.

[0034] Step 3: According to the compressed air detection unit, the air pressure P is obtained. The system set pressure is known to be P0. A regression equation is established to obtain the pressure influence coefficient k3. The theoretical value Qs2 of the accelerator displacement is corrected by the pressure influence coefficient k3 to obtain Qs3. According to the compressed air detection unit, the air flow rate Qa is obtained. The system set pressure is known to be Qa0. A regression equation is established to obtain the flow influence coefficient k4. The theoretical value Qs3 of the accelerator displacement is corrected by the flow influence coefficient k4 to obtain Qs4.

[0035] Step 4: According to the spray gun posture detection unit, the vertical distance d between the spray gun and the spray surface is obtained, and then the distance influence coefficient k5 is obtained. The theoretical value Qs4 of the accelerator displacement is corrected by the distance influence coefficient k5 to obtain Qs5; according to the boom posture detection unit, the spray gun's spray angle α is obtained, and then the angle influence coefficient k6 is obtained. The theoretical value Qs5 of the accelerator displacement is corrected by the angle influence coefficient k6 to obtain Qs6;

[0036] Step 5: The controller controls the operation of the pumping mechanism, the accelerating agent adding mechanism, the air compression transmission mechanism and the boom adjustment mechanism through the theoretical value Qs6 of the accelerating agent displacement.

[0037] Furthermore, the theoretical value Qs0 of the quick-setting agent displacement in step 1 is as shown in formula (1):

[0038] Qs0=Qc×Qm×k0÷ρ(1).

[0039] Furthermore, the theoretical value Qs1 of the quick-setting agent displacement in step 2 is as shown in formula (2):

[0040] Qs1=Qs0×C / C0;

[0041] The step 2 of correcting the theoretical value Qs1 of the quick-setting agent discharge to obtain Qs2 specifically includes:

[0042] Set the temperature influence coefficient k2, the initial value of k2 is 1, calculate the difference between T and T0, and for every 10℃ increase in temperature, the value of k2 decreases by 10%, and for every 10℃ decrease in temperature, the value of k2 increases by 10%.

[0043] The Qs2 is shown in formula (3):

[0044] Qs2=Qs0×k2(3);

[0045] Furthermore, the theoretical value Qs6 of the quick-setting agent displacement in step 5 is as shown in formula (4):

[0046] Qs6=Qc×Qm×k0÷ρ×C / C0×k2×k3×k4×k5×k6(4);

[0047] Among them, the distance influence coefficient k5 and the angle influence coefficient k6 are obtained through experiments.

[0048] Through the above technical solution, the beneficial effects of the present invention are:

[0049] The present invention uses a small number of sensors to detect the amount of accelerated setting agent added, and sets a concrete flow detection unit, an accelerated setting agent detection unit, a boom posture detection unit, a spray gun posture detection unit and a compressed air detection unit to detect the pumping mechanism, the accelerated setting agent adding mechanism, the accelerated setting agent, the boom adjustment mechanism and the air compression transmission mechanism respectively, so as to obtain the key parameters of the wet spraying trolley operation and provide data for the accelerated setting agent displacement algorithm.

[0050] 2 The accelerator displacement algorithm of the present invention obtains the theoretical value Qs0 of the accelerator displacement according to the concrete flow rate and the ratio of the accelerator to the concrete, and then obtains the theoretical value Qs6 of the accelerator displacement in combination with the accelerator concentration value condition, the temperature influence coefficient k2, the pressure influence coefficient k3, the flow influence coefficient k4, the distance influence coefficient k5 and the angle influence coefficient k6. The controller controls the operation of the accelerator adding mechanism according to the theoretical value Qs6 of the accelerator displacement, so that the accelerator displacement matches the actual operation situation.

[0051] The present invention realizes automatic control of the amount of accelerating agent added, and further controls the pumping mechanism, air compression transmission mechanism and boom adjustment mechanism through the amount of accelerating agent added, thereby improving the efficiency and reliability of concrete spraying operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 This is an electrical schematic diagram of an intelligent and precise control system for an accelerating setting agent of a wet spraying platform vehicle of the present invention.

[0053] Figure 2 This is one of the structural schematic diagrams of an intelligent and precise control system for an accelerating setting agent of a wet spraying platform vehicle of the present invention.

[0054] Figure 3 This is the second structural schematic diagram of an intelligent and precise control system for an accelerating setting agent of a wet spraying platform vehicle according to the present invention.

[0055] Figure 4 This is the third structural schematic diagram of an intelligent and precise control system for a wet spraying accelerator of the present invention.

[0056] Figure 5 This is the fourth structural schematic diagram of an intelligent and precise control system for an accelerating setting agent of a wet spraying platform vehicle of the present invention.

[0057] Figure 6 This is the fifth structural schematic diagram of an intelligent and precise control system for an accelerating setting agent of a wet spraying platform vehicle according to the present invention.

[0058] Figure 7 The present invention is an algorithm flow chart of an algorithm for discharging an accelerating setting agent of a wet spraying platform.

[0059] Figure numbers: accelerator adding mechanism 1, air compression transmission mechanism 2, boom adjustment mechanism 3, control unit 4, concrete drag pump 5, concrete cylinder 6, water tank 7, liquid level sensor 8, accelerator concentration sensor 9, rotation speed sensor 10, accelerator barrel 11, accelerator pump 12, distance sensor 13, second rotating platform 14, first rotating platform 15, spray gun 16, flow sensor 17, main pipeline 18, connecting pipeline 19. DETAILED DESCRIPTION

[0060] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0061] Example 1

[0062] like Figures 1 to 6 As shown, an intelligent and precise control system for accelerating setting agent of a wet spraying platform vehicle comprises a pumping mechanism, an accelerating setting agent adding mechanism 1, an air compression transmission mechanism 2, an arm adjustment mechanism 3 and a control unit 4, and also comprises a detection mechanism, wherein the detection mechanism comprises a concrete flow detection unit, an accelerating setting agent detection unit, an arm posture detection unit, a spray gun posture detection unit and a compressed air detection unit;

[0063] The concrete flow detection unit is used to detect the flow of the pumping mechanism, and the concrete detection unit is connected to the control unit 4. The quick-setting agent detection unit is used to detect the quick-setting agent flow, quick-setting agent concentration and quick-setting agent temperature, and the quick-setting agent detection unit is connected to the control unit 4. The boom posture detection unit is used to detect the boom posture, and the boom posture detection unit is connected to the control unit 4. The spray gun posture detection unit is used to detect the spray gun 16 posture, and the spray gun posture detection unit is connected to the control unit 4. The compressed air detection unit is used to detect the pipeline pressure, and the compressed air detection unit is connected to the control unit 4;

[0064] The control unit 4 is used to control the operation of the quick-setting agent adding mechanism 1 , the air compression transmission mechanism 2 , the pumping mechanism and the arm adjustment mechanism 3 .

[0065] In this embodiment, the pumping mechanism includes a concrete pump 5, which includes a pumping oil cylinder, a concrete cylinder 6 and a piston. The pumping oil cylinder drives the piston to reciprocate in the concrete cylinder 6. The concrete pump 5 is provided with a water tank 7.

[0066] The concrete flow detection unit includes a liquid level sensor 8, a proximity switch A, a proximity switch B, a proximity switch C, and a proximity switch D. The liquid level sensor 8 is arranged in the water tank 7 and is used to detect the liquid level in the water tank 7.

[0067] A proximity switch A and a proximity switch B are arranged on the concrete cylinder 6 near the top of the water tank 7, and a proximity switch C and a proximity switch D are arranged at the end of the concrete cylinder 6;

[0068] The liquid level sensor 8 , the proximity switch A, the proximity switch B, the proximity switch C, and the proximity switch D are electrically connected to the control unit 4 , respectively.

[0069] The pumping cylinder is connected to an electromagnetic reversing valve, and the control unit 4 controls the reciprocating motion of the piston of the pumping cylinder through the electromagnetic reversing valve. In addition, the pumping mechanism is also provided with a stirring device. When the pumping speed changes, its stirring speed will also be appropriately adjusted to ensure that the uniformity and fluidity of the concrete are not affected.

[0070] In this embodiment, the accelerator flow detection unit includes an accelerator concentration sensor 9, a temperature sensor A, a temperature sensor B and a rotation speed sensor 10;

[0071] The accelerator adding mechanism 1 comprises an accelerator barrel 11 and an accelerator pump 12. A temperature sensor A is arranged in the middle of the accelerator barrel 11, a temperature sensor B is arranged at the bottom of the accelerator barrel 11, an accelerator concentration sensor 9 is arranged at the outlet position of the accelerator barrel 11, the accelerator barrel 11 and the accelerator pump 12 are connected by a hose, and the accelerator pump 12 is provided with a rotation speed sensor 10;

[0072] The quick-setting agent concentration sensor 9 , the temperature sensor A, the temperature sensor B and the rotation speed sensor 10 are electrically connected to the control unit 4 , respectively.

[0073] The accelerating agent adding mechanism 1 also includes a frequency converter, a variable frequency motor and a flow regulating valve. The frequency converter is connected to the control unit 4, and the frequency converter is also connected to the variable frequency motor. The output shaft of the variable frequency motor is connected to the accelerating agent pump 12. The control unit 4 can adjust the speed of the accelerating agent pump 12 through the frequency converter, and the speed sensor 10 adopts a Hall sensor. The flow regulating valve is installed on the hose, and the opening of the flow regulating valve is controlled by the control unit 4. The flow regulating valve adopts closed-loop control.

[0074] Further, the arm posture detection unit includes an inclination sensor A and an inclination sensor B;

[0075] The spray gun posture detection unit includes an angle encoder A, an angle encoder B and a distance sensor 13;

[0076] The arm adjustment mechanism 3 includes an upper arm, a lower arm and a spray gun mounting seat, the lower arm is connected to the upper arm, a first rotating platform 15 and a second rotating platform 14 are arranged on the lower arm, the first rotating platform 15 is fixed to the lower arm and is rotatably connected to the second rotating platform 14, the second rotating platform 14 is rotatably connected to the spray gun mounting seat, and a spray gun 16 is arranged on the spray gun mounting seat;

[0077] The first rotating platform 15 is provided with an angle encoder A, the second rotating platform 14 is provided with an angle encoder B, the end of the upper arm is provided with an inclination sensor A, the end of the lower arm is provided with an inclination sensor B, and the end of the nozzle is provided with a distance sensor 13;

[0078] The inclination sensor A, the inclination sensor B, the distance sensor 13 , the angle encoder A and the angle encoder B are all electrically connected to the control unit 4 .

[0079] In this embodiment, the compressed air detection unit includes a pressure sensor A, a pressure sensor B, a temperature sensor C, a temperature sensor D and a flow sensor 17;

[0080] The air compression transmission mechanism 2 includes an air compressor, a main pipeline 18 and a connecting pipeline 19, the outlet of the air compressor is connected to the connecting pipeline 19, the connecting pipeline 19 is connected to the main pipeline 18, the main pipeline 18 is connected to a branch pipeline, and the branch pipeline is connected to the spray gun 16;

[0081] A pressure sensor A is provided at the connection position between the connecting pipe 19 and the air compressor, a flow sensor 17 and a temperature sensor C are provided at the connection position between the connecting pipe 19 and the main pipe 18, and a pressure sensor B and a temperature sensor D are provided at the connection position between the main pipe 18 and the branch pipe;

[0082] The pressure sensor A, the pressure sensor B, the temperature sensor C, the temperature sensor D and the flow sensor 17 are all electrically connected to the control unit 4 .

[0083] The air compression transmission mechanism 2 also includes a pressure regulating valve, a speed controller and a cooling fan, which are used to adjust the pressure, flow and temperature of the compressed air. The pressure regulating valve is installed at the connection position between the air compressor and the connecting pipe 19. The control unit 4 controls the opening of the pressure regulating valve to restore the pressure to a normal range. The speed controller communicates with the control unit 4. The speed controller is connected to a motor. The output shaft of the motor is connected to the air compressor. The control unit 4 can control the motor speed through the speed controller. The cooling fan is controlled by the control unit 4. The cooling fan operates to cool the air compressor to prevent the air compressor from overheating.

[0084] In this embodiment, the control unit 4 includes a data receiving and processing unit, a data analysis and decision unit, a storage unit and a communication unit;

[0085] The data receiving and processing unit is respectively connected with the concrete flow detection unit, the quick-setting agent flow detection unit, the boom posture detection unit, the spray gun posture detection unit and the compressed air detection unit for signal collection and signal processing;

[0086] The data receiving and processing unit is connected to the data analyzing and decision-making unit. The data analyzing and decision-making unit includes a controller. The controller is communicatively connected to the storage unit and the communication unit.

[0087] The controller is connected to the HMI module through a communication unit to facilitate human-computer interaction.

[0088] Example 2

[0089] like Figure 7 As shown, a wet spraying trolley accelerator displacement algorithm includes step 1: calculating the concrete flow Qc unit: m3 / h according to the concrete flow detection unit, knowing the cement ratio in the concrete, obtaining the cement content Qm in the concrete unit: kg / m3, knowing the accelerator density is ρ, setting the accelerator dosage to the theoretical volume ratio of cement in the concrete as k0 according to the operation requirements and the performance of the accelerator, and calculating the theoretical value Qs0 of the accelerator displacement;

[0090] Step 2: According to the accelerator flow detection unit, the accelerator concentration value C is obtained. The accelerator concentration setting value C0 is known. When C≠C0, the theoretical value Qs0 of the accelerator displacement is corrected to obtain Qs1. According to the accelerator flow detection unit, the accelerator temperature value T is obtained. According to the accelerator temperature setting value T0 is known. When T≠T0, the theoretical value Qs1 of the accelerator displacement is corrected to obtain Qs2.

[0091] Step 3: According to the compressed air detection unit, the air pressure P is obtained. The system set pressure is known to be P0. A regression equation is established to obtain the pressure influence coefficient k3. The theoretical value Qs2 of the accelerator displacement is corrected by the pressure influence coefficient k3 to obtain Qs3. According to the compressed air detection unit, the air flow rate Qa is obtained. The system set pressure is known to be Qa0. A regression equation is established to obtain the flow influence coefficient k4. The theoretical value Qs3 of the accelerator displacement is corrected by the flow influence coefficient k4 to obtain Qs4.

[0092] Step 4: According to the spray gun posture detection unit, the vertical distance d between the spray gun 16 and the spray surface is obtained, and then the distance influence coefficient k5 is obtained. The theoretical value Qs4 of the quick-setting agent displacement is corrected by the distance influence coefficient k5 to obtain Qs5; according to the boom posture detection unit, the spray angle α of the spray gun 16 is obtained, and then the angle influence coefficient k6 is obtained. The theoretical value Qs5 of the quick-setting agent displacement is corrected by the angle influence coefficient k6 to obtain Qs6;

[0093] Step 5: The controller 4 controls the operation of the pumping mechanism, the accelerating agent adding mechanism 1, the air compression transmission mechanism 2 and the boom adjustment mechanism 3 through the theoretical value Qs6 of the accelerating agent displacement.

[0094] The theoretical value Qs0 of the quick-setting agent displacement in step 1 is shown in formula (1):

[0095] Qs0=Qc×Qm×k0÷ρ(1).

[0096] The theoretical value Qs1 of the quick-setting agent displacement in step 2 is shown in formula (2):

[0097] Qs1=Qs0×C / C0(2);

[0098] The step 2 of correcting the theoretical value Qs1 of the quick-setting agent discharge to obtain Qs2 specifically includes:

[0099] Set the temperature influence coefficient k2, the initial value of k2 is 1, calculate the difference between T and T0, and for every 10℃ increase in temperature, the value of k2 decreases by 10%, and for every 10℃ decrease in temperature, the value of k2 increases by 10%.

[0100] The Qs2 is shown in formula (3):

[0101] Qs2=Qs0×k2(3);

[0102] The theoretical value Qs6 of the quick-setting agent displacement in step 5 is shown in formula (4):

[0103] Qs6=Qc×Qm×k0÷ρ×C / C0×k2×k3×k4×k5×k6(4);

[0104] Among them, the distance influence coefficient k5 and the angle influence coefficient k6 are obtained through experiments.

[0105] The embodiments described above are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. Therefore, any equivalent changes or modifications made according to the structures, features and principles described in the patent scope of the present invention should be included in the scope of the patent application of the present invention.

Claims

1. An intelligent and precise control system for a wet spraying trolley accelerating agent, comprising a pumping mechanism, an accelerating agent adding mechanism (1), an air compression transmission mechanism (2), an arm adjustment mechanism (3) and a control unit (4), characterized in that: It also includes a detection mechanism, which includes a concrete flow detection unit, an accelerator detection unit, a boom posture detection unit, a spray gun posture detection unit and a compressed air detection unit; The concrete flow detection unit is used to detect the flow of the pumping mechanism, and the concrete detection unit is connected to the control unit (4). The quick-setting agent detection unit is used to detect the quick-setting agent flow, quick-setting agent concentration and quick-setting agent temperature, and the quick-setting agent detection unit is connected to the control unit (4). The boom posture detection unit is used to detect the boom posture, and the boom posture detection unit is connected to the control unit (4). The spray gun posture detection unit is used to detect the posture of the spray gun (16), and the spray gun posture detection unit is connected to the control unit (4). The compressed air detection unit is used to detect the pipeline pressure, and the compressed air detection unit is connected to the control unit (4); The control unit (4) is used to control the operation of the quick-setting agent adding mechanism (1), the air compression transmission mechanism (2), the pumping mechanism and the arm adjustment mechanism (3).

2. According to claim 1, the intelligent and precise control system for the accelerating setting agent of the wet spraying platform is characterized in that: The pumping mechanism comprises a trailer concrete pump (5), the trailer concrete pump (5) comprises a pumping oil cylinder, a concrete cylinder (6) and a piston, the pumping oil cylinder drives the piston to reciprocate in the concrete cylinder (6), and the trailer concrete pump (5) is provided with a water tank (7); The concrete flow detection unit comprises a liquid level sensor (8), a proximity switch A, a proximity switch B, a proximity switch C, and a proximity switch D. The liquid level sensor (8) is arranged in the water tank (7), and the liquid level sensor (8) is used to detect the liquid level in the water tank (7); A proximity switch A and a proximity switch B are arranged on the concrete cylinder (6) near the top of the water tank (7), and a proximity switch C and a proximity switch D are arranged at the end of the concrete cylinder (6); The liquid level sensor (8), proximity switch A, proximity switch B, proximity switch C, and proximity switch D are electrically connected to the control unit (4) respectively.

3. According to claim 1, the intelligent and precise control system for the accelerating setting agent of the wet spraying platform is characterized in that: The quick-setting agent flow detection unit comprises an quick-setting agent concentration sensor (9), a temperature sensor A, a temperature sensor B and a rotation speed sensor (10); The quick-setting agent adding mechanism (1) comprises an quick-setting agent barrel (11) and an quick-setting agent pump (12); a temperature sensor A is arranged in the middle of the quick-setting agent barrel (11); a temperature sensor B is arranged at the bottom of the quick-setting agent barrel (11); an quick-setting agent concentration sensor (9) is arranged at the outlet of the quick-setting agent barrel (11); the quick-setting agent barrel (11) and the quick-setting agent pump (12) are connected via a hose; and the quick-setting agent pump (12) is provided with a rotation speed sensor (10); The quick-setting agent concentration sensor (9), the temperature sensor A, the temperature sensor B and the rotation speed sensor (10) are electrically connected to the control unit (4) respectively.

4. According to claim 1, the intelligent and precise control system for the accelerating setting agent of the wet spraying platform is characterized in that: The arm posture detection unit includes an inclination sensor A and an inclination sensor B; The spray gun posture detection unit comprises an angle encoder A, an angle encoder B and a distance measuring sensor (13); The arm adjustment mechanism (3) comprises an upper arm, a lower arm and a spray gun mounting seat, the lower arm is connected to the upper arm, a first rotating platform (15) and a second rotating platform (14) are arranged on the lower arm, the first rotating platform (15) is fixed to the lower arm and is rotationally connected to the second rotating platform (14), the second rotating platform (14) is rotationally connected to the spray gun mounting seat, and a spray gun (16) is arranged on the spray gun mounting seat; The first rotating platform (15) is provided with an angle encoder A, the second rotating platform (14) is provided with an angle encoder B, the end of the upper arm is provided with an inclination sensor A, the end of the lower arm is provided with an inclination sensor B, and the end of the nozzle is provided with a distance sensor (13); The inclination sensor A, the inclination sensor B, the distance sensor (13), the angle encoder A and the angle encoder B are all electrically connected to the control unit (4).

5. According to claim 4, the intelligent and precise control system for the accelerating setting agent of the wet spraying platform is characterized in that: The compressed air detection unit comprises a pressure sensor A, a pressure sensor B, a temperature sensor C, a temperature sensor D and a flow sensor (17); The air compression transmission mechanism (2) comprises an air compressor, a main pipeline (18) and a connecting pipeline (19), the outlet of the air compressor is connected to the connecting pipeline (19), the connecting pipeline (19) is connected to the main pipeline (18), the main pipeline (18) is connected to a branch pipeline, and the branch pipeline is connected to the spray gun (16); A pressure sensor A is provided at the connection position between the connecting pipe (19) and the air compressor, a flow sensor (17) and a temperature sensor C are provided at the connection position between the connecting pipe (19) and the main pipe (18), and a pressure sensor B and a temperature sensor D are provided at the connection position between the main pipe (18) and the branch pipe; The pressure sensor A, the pressure sensor B, the temperature sensor C, the temperature sensor D and the flow sensor (17) are all electrically connected to the control unit (4).

6. According to claim 1, the intelligent and precise control system for the accelerating setting agent of the wet spraying platform is characterized in that: The control unit (4) comprises a data receiving and processing unit, a data analysis and decision-making unit, a storage unit and a communication unit; The data receiving and processing unit is respectively connected with the concrete flow detection unit, the quick-setting agent flow detection unit, the boom posture detection unit, the spray gun posture detection unit and the compressed air detection unit for signal collection and signal processing; The data receiving and processing unit is connected to the data analyzing and decision-making unit. The data analyzing and decision-making unit includes a controller. The controller is communicatively connected to the storage unit and the communication unit.

7. A wet spraying trolley accelerator displacement algorithm for a wet spraying trolley accelerator intelligent and precise control system according to any one of claims 1 to 6, characterized in that: Step 1: Calculate the concrete flow rate Qc (unit: m3 / h) according to the concrete flow detection unit. The cement ratio in the concrete is known, and the cement content Qm in the concrete is obtained (unit: kg / m3). The density of the accelerator is known to be ρ. According to the operation requirements and the performance of the accelerator, the theoretical volume ratio of the accelerator dosage to the cement in the concrete is set to k0, and the theoretical value of the accelerator discharge Qs0 is calculated; Step 2: According to the accelerator flow detection unit, the accelerator concentration value C is obtained. The accelerator concentration setting value C0 is known. When C≠C0, the theoretical value Qs0 of the accelerator displacement is corrected to obtain Qs1. According to the accelerator flow detection unit, the accelerator temperature value T is obtained. According to the accelerator temperature setting value T0 is known. When T≠T0, the theoretical value Qs1 of the accelerator displacement is corrected to obtain Qs2. Step 3: According to the compressed air detection unit, the air pressure P is obtained. The system set pressure is known to be P0. A regression equation is established to obtain the pressure influence coefficient k3. The theoretical value Qs2 of the accelerator displacement is corrected by the pressure influence coefficient k3 to obtain Qs3. According to the compressed air detection unit, the air flow rate Qa is obtained. The system set pressure is known to be Qa0. A regression equation is established to obtain the flow influence coefficient k4. The theoretical value Qs3 of the accelerator displacement is corrected by the flow influence coefficient k4 to obtain Qs4. Step 4: According to the spray gun posture detection unit, the vertical distance d between the spray gun (16) and the spray surface is obtained, and then the distance influence coefficient k5 is obtained. The theoretical value Qs4 of the quick-setting agent discharge is corrected by the distance influence coefficient k5 to obtain Qs5; according to the boom posture detection unit, the spray angle α of the spray gun (16) is obtained, and then the angle influence coefficient k6 is obtained. The theoretical value Qs5 of the quick-setting agent discharge is corrected by the angle influence coefficient k6 to obtain Qs6; Step 5: The controller (4) controls the operation of the pumping mechanism, the accelerating agent adding mechanism (1), the air compression transmission mechanism (2) and the boom adjustment mechanism (3) through the theoretical value Qs6 of the accelerating agent displacement.

8. The method for discharging the quick-setting agent of the wet spraying platform according to claim 7 is characterized in that: The theoretical value Qs0 of the quick-setting agent displacement in step 1 is shown in formula (1): Qs0=Qc×Qm×k0÷ρ(1).

9. The algorithm for discharging the quick-setting agent of the wet spraying platform according to claim 7 is characterized in that: The theoretical value Qs1 of the quick-setting agent displacement in step 2 is shown in formula (2): Qs1=Qs0×C / C0(2); The step 2 of correcting the theoretical value Qs1 of the quick-setting agent discharge to obtain Qs2 specifically includes: Set the temperature influence coefficient k2, the initial value of k2 is 1, calculate the difference between T and T0, and for every 10℃ increase in temperature, the value of k2 decreases by 10%, and for every 10℃ decrease in temperature, the value of k2 increases by 10%. The Qs2 is shown in formula (3): Qs2=Qs0×k2(3).

10. The method for discharging the quick-setting agent of the wet spraying platform according to claim 7 is characterized in that: The theoretical value Qs6 of the quick-setting agent displacement in step 5 is shown in formula (4): Qs6=Qc×Qm×k0÷ρ×C / C0×k2×k3×k4×k5×k6(4); Among them, the distance influence coefficient k5 and the angle influence coefficient k6 are obtained through experiments.

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