Pouring pipe loading and unloading device and loading and unloading stress control method

Abstract

The invention discloses a pouring pipe loading and unloading device and a loading and unloading stress control method. Axial stress Fa and torque T are collected through an axial stress sensor and a torque sensor which are installed in a power head, and the method comprises the following steps that the maximum bearing stress # imgabs0 # of a current pouring pipe thread is detected, and a standard axial stress function of the current pouring pipe is established; the upper ends of the pouring pipes are connected, the power head is controlled to rotate forwards, and the lower ends of the pouring pipes are connected. The power head is controlled to rotate reversely, periodic changes of axial stress are detected, and it is ensured that threads of the two pouring pipes are completely coaxial. The axial sensor monitors the axial stress in real time and combines the mathematical model to judge whether the threads jump, so that the threads are prevented from slipping. According to the invention, intelligent control of axial stress and torque is realized creatively through a feedback control algorithm; through cooperative work of the power head, the axial sensor and the torque sensor, automatic operation of connection and disassembly of the pouring pipe is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of water conservancy geological construction, in particular to the technical field of designing an anti-seepage curtain wall casting device and a control method, and specifically to a casting pipe loading and unloading device and a loading and unloading stress control method. Background Art

[0002] The pouring pipe is an indispensable tool for pouring water conservancy anti-seepage walls. During the entire process of pouring the anti-seepage wall, all the pouring concrete is transported to the bottom of the anti-seepage wall trough through the pouring pipe and poured from bottom to top. After the concrete solidifies, an anti-seepage wall embedded in the mountain is formed. This plays a vital role in the construction of the dam body of the barrier lake, the construction of hydropower stations in the river, and the waterproof construction of the mountains on both sides. The depth of the anti-seepage wall usually ranges from tens of meters to hundreds of meters. Generally, the depth of the ultra-deep anti-seepage wall will exceed 200 meters. However, since the length of the pouring pipe is generally between 3m-6m, the diameter is about 100mm-300mm, and the weight is large, it cannot be transported or loaded and unloaded manually, and usually requires the assistance of lifting or suspension machinery.

[0003] The pouring of anti-seepage walls usually requires continuity to ensure that the concrete wall formed by the entire anti-seepage wall after solidification has good consistency, avoiding joints between structures that become leakage points for anti-seepage failure; this puts forward higher requirements for the loading and unloading of pouring pipes during the pouring process. 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 companies in the industry, but almost all of them use lifting equipment or auxiliary machinery to lift the pouring pipes. The installation or disassembly between 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 slippage, and tooth extraction. Therefore, for the installation / disassembly of the pouring pipe, it is very important to ensure that the two connected pouring pipes maintain a high coaxiality. Otherwise, it is very easy to cause the pouring pipe thread slippage. Once the pouring pipe thread slips, it usually leads to the scrapping of the pouring pipe. Therefore, how to ensure that the pouring pipe maintains a high coaxiality before connection and achieve a one-time successful connection is crucial for the pouring of anti-seepage curtain walls. Summary of the invention

[0004] In the process of connecting existing casting pipes, it is difficult for manual operation to quickly maintain a high coaxiality of the two casting pipes to be connected due to factors such as the heavy weight and large size of the casting pipes themselves, which makes it easy for the casting pipes to have thread slippage during the connection process, resulting in difficulty in connecting the casting pipes and even the casting pipes being scrapped. The present application provides a casting pipe loading and unloading device and a loading and unloading stress control method that can effectively solve the problems of difficult manual alignment, low efficiency, and easy thread slippage in the casting pipe connection.

[0005] In the prior art, since the two casting pipes are not completely coaxial, the rotation of the power head may cause thread slippage, thereby damaging the thread and affecting the connection quality. Furthermore, the prior art lacks effective coaxiality detection means, and there is no unified construction machinery in the industry. It mainly relies on manual experience and equipment accuracy, and it is difficult to avoid the occurrence of thread slippage. In response to these technical problems, the present invention makes targeted improvements from multiple dimensions, mainly including: 1. By controlling the reversal of the power head and detecting the periodic changes of the axial stress, the threads of the two casting pipes are ensured to be completely coaxial; 2. The axial stress is monitored in real time by the axial sensor combined with the mathematical model to determine whether the thread jumps and avoid thread slippage; 3. The rotation direction and speed of the power head are dynamically adjusted according to the change of the axial stress to ensure the reliability of the threaded connection. The probability of slippage of the casting pipe during the connection process is significantly reduced, which effectively avoids the damage of the casting pipe thread caused by the slippage of the casting pipe, and even the problem of the casting pipe being scrapped, thereby improving the efficiency and quality of the casting pipe connection. 4. The present invention creatively realizes intelligent control of axial stress and torque through feedback control algorithm; through the coordinated work of the power head, axial sensor and torque sensor, the automatic operation of pouring pipe connection and disassembly is realized. Furthermore, the axial stress and torque data of each connection can be recorded for subsequent analysis and optimization, thereby improving the level of construction management.

[0006] In order to achieve the above purpose, the technical solution adopted in this application is:

[0007] A method for controlling the stress of pouring pipe loading and unloading is provided, wherein the axial stress F is collected by an axial stress sensor and a torque sensor installed in a power head. a , and torque T, comprising the following steps:

[0008] Step STP100, detect the maximum stress of the current casting pipe thread Fix the casting pipe to be tested vertically just below the power head used for loading / unloading the casting pipe, and control the power head to rotate and slowly descend; the rotation direction of the power head is reverse, the speed is ω, unit r / min, and the descending speed is v, unit mm / min; when the axial stress F a After the rotation time t changes periodically, the axial stress F exerted by the power head on the casting pipe after each cycle test is completed is aIncrease 10N and continue testing until structural deformation occurs at the end of the J-th pouring pipe thread; record the J-1st axial stress F a The maximum value of As the maximum stress of the current casting pipe thread, record the axial stress F of the J-1th time a (t) value; continue to rotate the power head until the axial stress F a It drops instantly, and then records the axial stress F at this time. a The value of (t);

[0009] Step STP200, establish the standard axial stress function of the current pouring pipe, repeat the J-1th axial stress F a The detection process under the premise of the value is carried out for at least 3 cycles until a regular stress curve is detected, and the current standard axial stress function F of the pouring pipe is obtained. a (t)

[0010]

[0011] in, is the maximum value of axial stress, T p is the stress variation cycle, is the offset of the axial stress; σ 1 , σ 2 is the shape parameter of the control function, and σ 1 >σ 2 ; n is the period of the function, t 1 It is the time period dividing point where the function drops rapidly from the maximum value;

[0012] Step STP300, the upper end of the pouring pipe is connected, the power head is controlled to rotate in the forward direction, the speed is ω, and the torque T applied by the power head on the pouring pipe is detected with time t. When the real-time torque T applied reaches the preset torque T set When the screw is turned, stop screwing to complete the connection between the pouring pipe and the power head;

[0013] Step STP400, connect the lower end of the pouring pipe, align the pouring pipe to be connected with the fixed pouring pipe installed below, and slowly descend by controlling the power until the axial stress F a When the load is greater than 30N, the power head is controlled to rotate in the opposite direction, with a speed of ω, and the current axial stress F is detected in real time. ′ a Is it subject to the axial stress F in step STP200? a (t) stress function;

[0014] If it does not obey, continue to rotate in the opposite direction or adjust the placement of the pouring pipe manually;

[0015] If it obeys, the power head is controlled to rotate forward with a speed of ω, and at the same time, the real-time torque T(t) applied by the current pouring pipe to the fixed pouring pipe below is detected to see if it meets the preset requirements.

[0016]

[0017] 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 , the current pouring pipe connection is completed.

[0018] As a preferred solution, the present invention further includes the following steps: a (t) The step of smoothing the signal using a low-pass filter. The axial stress after filtering The following formula is used to obtain:

[0019]

[0020] Among them, α is the filter coefficient, which is used to control the degree of smoothing.

[0021] Preferably, the preset torque T in step STP300 is also included. set The dynamic adjustment steps, the adjusted preset torque value T' set Obtained by the following formula,

[0022] T′ set =T base +k·△T env

[0023] Among them, T base is the basic torque value, △T env is the deviation caused by environmental factors, and k is the correction coefficient.

[0024] Preferably, the step of periodically adjusting the step STP200 is also included, and the adjusted axial stress Obtained by the following formula:

[0025]

[0026] Where N is the number of detection cycles, is the peak axial stress of the ith cycle.

[0027] Preferably, it also includes a method according to the axial stress F a (t) For the step of dynamically adjusting the speed ω in step STP400, the adjusted speed ω is obtained by the following formula:

[0028]

[0029] in, is the target axial stress value, k F is the feedback coefficient.

[0030] Preferably, the method further includes dynamically adjusting the rotation speed ω in step STP400 according to the real-time torque T(t), and the adjusted rotation speed ω is obtained by the following formula:

[0031] ω=ω base +k T ·(T set -T(t)

[0032] Among them, k T is the torque feedback coefficient.

[0033] Preferably, it also includes an abnormality handling step, specifically including a thread slippage detection step, 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;

[0034]

[0035] Among them, λ is the wire slip judgment threshold;

[0036] And the overload judgment step, when T(t) exceeds the 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 is overloaded and performs automatic rollback.

[0037] The present invention also provides a pouring pipe loading and unloading device, which is used to execute the above-mentioned pouring pipe loading and unloading stress control method, and specifically comprises an actuator and a control unit. The actuator comprises a clamping and transporting mechanism for vertically clamping the pouring pipe, a power head slidably mounted on the gantry, and a fixing mechanism arranged at the bottom of the gantry for fixing and clamping the installed pouring pipe. The power head is respectively equipped with a device for collecting axial stress F a An axial stress sensor and a torque sensor for collecting torque T; the axial stress sensor and the torque sensor are electrically connected to the control unit;

[0038] The control unit includes a computer-readable storage medium and a processor. The computer-readable storage medium contains a software program for the processor to read and execute. The processor sends an execution signal to the actuator by executing the software program and completes the steps of the casting pipe loading and unloading stress control method described above.

[0039] Beneficial effects:

[0040] 1. By controlling the reversal of the power head and detecting the periodic changes of the axial stress, ensure that the threads of the two casting pipes are completely coaxial.

[0041] 2. Use the axial sensor to monitor the axial stress in real time and combine it with the mathematical model to determine whether the thread is gapped to avoid thread slippage.

[0042] 3. The rotation direction and speed of the power head are dynamically adjusted according to the change of axial stress to ensure the reliability of the threaded connection. The probability of thread slippage of the pouring pipe during the connection process is significantly reduced, effectively avoiding the damage to the pouring pipe thread caused by thread slippage, and even the problem of the pouring pipe being scrapped, thereby improving the efficiency and quality of the pouring pipe connection.

[0043] 4. The present invention creatively realizes intelligent control of axial stress and torque through feedback control algorithm; through the coordinated work of the power head, axial sensor and torque sensor, the automatic operation of pouring pipe connection and disassembly is realized. Furthermore, the axial stress and torque data of each connection can be recorded for subsequent analysis and optimization, thereby improving the level of construction management. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] 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.

[0045] Figure 1 It is a structural schematic diagram of the pouring pipe loading and unloading device provided by the present invention.

[0046] In the figure: 1-gantry; 2-power head; 3-clamping and transporting mechanism; 4-fixing mechanism. DETAILED DESCRIPTION

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] Preferred embodiment:

[0054] A method for controlling the stress of pouring pipe loading and unloading is provided, wherein the axial stress F is collected by an axial stress sensor and a torque sensor installed in a power head. a , and torque T, comprising the following steps:

[0055] Step STP100, detect the maximum stress of the current casting pipe thread Fix the casting pipe to be tested vertically just below the power head used for loading / unloading the casting pipe, and control the power head to rotate and slowly descend; the rotation direction of the power head is reverse, the speed is ω, unit r / min, and the descending speed is v, unit mm / min; when the axial stress F aAfter the rotation time t changes periodically, the axial stress F exerted by the power head on the casting pipe after each cycle test is completed is a Increase 10N and continue testing until structural deformation occurs at the end of the J-th pouring pipe thread; record the J-1st axial stress F a The maximum value of As the maximum stress of the current casting pipe thread, record the axial stress F of the J-1th time a (t) value; continue to rotate the power head until the axial stress F a It drops instantly, and then records the axial stress F at this time. a The value of (t);

[0056] Step STP200, establish the standard axial stress function of the current pouring pipe, repeat the J-1th axial stress F a The detection process under the premise of the value is carried out for at least 3 cycles until a regular stress curve is detected, and the current standard axial stress function F of the pouring pipe is obtained. a (t)

[0057]

[0058] in, is the maximum value of axial stress, T p is the stress variation cycle, is the offset of the axial stress; σ 1 , σ 2 is the shape parameter of the control function, and σ 1 >σ 2 ; n is the period of the function, t 1 It is the time period dividing point where the function drops rapidly from the maximum value;

[0059] Step STP300, the upper end of the pouring pipe is connected, the power head is controlled to rotate in the forward direction, the speed is ω, and the torque T applied by the power head on the pouring pipe is detected with time t. When the real-time torque T applied reaches the preset torque T set When the screw is turned, stop screwing to complete the connection between the pouring pipe and the power head;

[0060] Step STP400, connect the lower end of the pouring pipe, align the pouring pipe to be connected with the fixed pouring pipe installed below, and slowly descend by controlling the power until the axial stress F a When the load is greater than 30N, the power head is controlled to rotate in the opposite direction, with a speed of ω, and the current axial stress F is detected in real time. ′ a Is it subject to the axial stress F in step STP200? a (t) stress function;

[0061] If it does not obey, continue to rotate in the opposite direction or adjust the placement of the pouring pipe manually;

[0062] If it obeys, the power head is controlled to rotate forward with a speed of ω, and at the same time, the real-time torque T(t) applied by the current pouring pipe to the fixed pouring pipe below is detected to see if it meets the preset requirements.

[0063]

[0064] 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 , the current pouring pipe connection is completed.

[0065] In this embodiment, the present invention further includes the following steps: a (t) The step of smoothing the signal using a low-pass filter. The axial stress after filtering The following formula is used to obtain:

[0066]

[0067] Among them, α is the filter coefficient, which is used to control the degree of smoothing.

[0068] In this embodiment, the preset torque T in step STP300 is also included. set The dynamic adjustment steps, the adjusted preset torque value T' set Obtained by the following formula,

[0069] T′ set =T base +k·△T env

[0070] Among them, T base is the basic torque value, △T env is the deviation caused by environmental factors, and k is the correction coefficient.

[0071] In this embodiment, the step of adjusting the period in step STP200 is also included, and the adjusted axial stress Obtained by the following formula:

[0072]

[0073] Where N is the number of detection cycles, and its value is [3, 10]. is the peak axial stress of the ith cycle.

[0074] In this embodiment, the axial stress F a(t) For the step of dynamically adjusting the speed ω in step STP400, the adjusted speed ω is obtained by the following formula:

[0075]

[0076] in, is the target axial stress value, k F is the feedback coefficient.

[0077] In this embodiment, the step of dynamically adjusting the speed ω in step STP400 according to the real-time torque T(t) is also included. The adjusted speed ω is obtained by the following formula:

[0078] ω=ω base +k T ·(T set -T(t)

[0079] Among them, k T is the torque feedback coefficient.

[0080] In this embodiment, an abnormality handling step is also included, specifically including a thread slippage detection step, 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;

[0081]

[0082] Among them, λ is the wire slip judgment threshold;

[0083] And the overload judgment step, when T(t) exceeds the 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 is overloaded and performs automatic rollback.

[0084] Embodiment 2:

[0085] See the instruction manual Figure 1 As shown, this embodiment provides a pouring pipe loading and unloading device, which is used to execute a pouring pipe loading and unloading stress control method described in Example 1, and specifically includes an actuator and a control unit. The actuator includes a clamping and transporting mechanism for vertically clamping the pouring pipe, a power head slidably installed on the gantry, and a fixing mechanism arranged at the bottom of the gantry for fixing and clamping the installed pouring pipe. The power head is respectively installed with a device for collecting axial stress F a An axial stress sensor and a torque sensor for collecting torque T; the axial stress sensor and the torque sensor are electrically connected to the control unit;

[0086] The control unit includes a computer-readable storage medium and a processor. The computer-readable storage medium contains a software program for the processor to read and execute. The processor sends an execution signal to the actuator by executing the software program and completes the steps of the casting pipe loading and unloading stress control method described in Example 1.

[0087] 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. A method for controlling the stress of pouring pipe loading and unloading, wherein the axial stress F is collected by an axial stress sensor and a torque sensor installed in the power head. a , and torque T, characterized in that The following steps are involved: Step STP100, detect the maximum stress of the current casting pipe thread Fix the casting pipe to be tested vertically just below the power head used for loading / unloading the casting pipe, and control the power head to rotate and slowly descend; the rotation direction of the power head is reverse, the speed is ω, unit r / min, and the descending speed is v, unit mm / min; when the axial stress F a After the rotation time t changes periodically, the axial stress F exerted by the power head on the casting pipe after each cycle test is completed is a Increase 10N and continue testing until structural deformation occurs at the end of the J-th pouring pipe thread; record the J-1st axial stress F a The maximum value of As the maximum stress of the current casting pipe thread, record the axial stress F of the J-1th time a (t) value; continue to rotate the power head until the axial stress F a It drops instantly, and then records the axial stress F at this time. a The value of (t); Step STP200, establish the standard axial stress function of the current pouring pipe, repeat the J-1th axial stress F a The detection process under the premise of the value is carried out for at least 3 cycles until a regular stress curve is detected, and the current standard axial stress function F of the pouring pipe is obtained. 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 STP300, the upper end of the pouring pipe is connected, the power head is controlled to rotate in the forward direction, the speed is ω, and the torque T applied by the power head on the pouring pipe is detected with time t. When the real-time torque T applied reaches the preset torque T set When the screw is turned, stop screwing to complete the connection between the pouring pipe and the power head; Step STP400, connect the lower end of the pouring pipe, align the pouring pipe to be connected with the fixed pouring pipe installed below, and slowly descend by controlling the power until the axial stress F a When the force is greater than 30N, the power head is controlled to rotate in the opposite direction, with a speed of ω, and the current axial stress F′ is detected in real time. a Is it subject to the axial stress F in step STP200? a (t) stress function; If it does not obey, continue to rotate in the opposite direction or adjust the placement of the pouring pipe manually; If it obeys, the power head is controlled to rotate forward with a speed of ω, and at the same time, the real-time torque T(t) applied by the current pouring pipe to the fixed pouring pipe below is detected to see if it 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 , the current pouring pipe connection is completed.

2. A method for controlling stress of pouring pipe loading and unloading according to claim 1, characterized in that: It also includes the axial stress F in step STP100. a (t) The step of smoothing the signal using a low-pass filter. The axial stress after filtering The following formula is used to obtain: Among them, α is the filter coefficient, which is used to control the degree of smoothing.

3. A method for controlling stress of pouring pipe loading and unloading according to claim 1, characterized in that: Preferably, the preset torque T in step STP300 is set The dynamic adjustment steps, the adjusted preset torque value T' set Obtained by the following formula, T′ set =T base +k·△T env Among them, T base is the basic torque value, △T env is the deviation caused by environmental factors, and k is the correction coefficient.

4. A method for controlling stress of pouring pipe loading and unloading according to claim 1, characterized in that: The step of periodically adjusting the step STP200 is also included, and the adjusted axial stress Obtained by the following formula: Where N is the number of detection cycles, is the peak axial stress of the ith cycle.

5. A method for controlling stress during loading and unloading of a pouring pipe according to claim 1, characterized in that: Also includes the axial stress F a (t) For the step of dynamically adjusting the speed ω in step STP400, the adjusted speed ω is obtained by the following formula: in, is the target axial stress value, k F is the feedback coefficient.

6. A method for controlling stress during loading and unloading of a pouring pipe according to claim 1, characterized in that: The method further includes dynamically adjusting the rotation speed ω in step STP400 according to the real-time torque T(t), and the adjusted rotation 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.

7. A method for controlling stress during loading and unloading of a pouring pipe according to claim 1, characterized in that: It also includes abnormality handling steps, specifically including thread slippage detection steps, detection of 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; Among them, λ is the wire slip judgment threshold; And the overload judgment step, when T(t) exceeds the 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 is overloaded and performs automatic rollback.

8. A pouring pipe loading and unloading device according to claim 1, characterized in that: A method for controlling the loading and unloading stress of a pouring pipe used to execute any one of claims 1 to 7, specifically comprising an actuator and a control unit, wherein the actuator comprises a clamping and transporting mechanism for vertically clamping the pouring pipe, a power head slidably mounted on a gantry, and a fixing mechanism arranged at the bottom of the gantry for fixing and clamping the installed pouring pipe, wherein the power head is respectively equipped with a device for collecting the axial stress F a An axial stress sensor and a torque sensor for collecting torque T; the axial stress sensor and the torque sensor are electrically connected to the control unit; The control unit includes a computer-readable storage medium and a processor, wherein the computer-readable storage medium contains a software program for the processor to read and execute, and the processor sends an execution signal to the actuator by executing the software program and completes the steps of the casting pipe loading and unloading stress control method described in any one of claims 1-7.

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