A pouring pipe loading and unloading device and loading and unloading stress control method

Abstract

The present application discloses a pouring pipe loading and unloading device and a loading and unloading stress control method. The axial stress F is collected by an axial stress sensor and a torque sensor installed in the power head. a , and torque T, including the following steps: detecting the maximum stress that the current casting pipe thread can withstand, establishing the current standard axial stress function of the casting pipe, connecting the upper end of the casting pipe, controlling the power head to rotate forward, and connecting the lower end of the casting pipe. By controlling the reversal of the power head, the periodic changes in the axial stress are detected to ensure that the threads of the two casting pipes are completely coaxial. The axial stress is monitored in real time by the axial sensor and combined with the mathematical model to determine whether the thread is gapped, thereby avoiding thread slippage. The present invention creatively realizes the intelligent control of axial stress and torque through the feedback control algorithm; and realizes the automated operation of connecting and disassembling the casting pipe through the coordinated work of the power head, axial sensor and torque sensor.

Description

Technical Field

[0001] The present invention relates to the technical field of water conservancy and 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] Casting pipes are essential tools for the construction of water conservancy anti-seepage walls. During the entire anti-seepage wall construction process, all concrete is transported to the bottom of the anti-seepage wall trough through the casting pipes and poured from bottom to top. After the concrete solidifies, it forms an anti-seepage wall embedded in the mountain. This plays a vital role in the construction of barrier lake dams, the construction of hydropower stations in rivers, and the waterproofing of the mountains on both sides. The depth of anti-seepage walls usually ranges from tens of meters to hundreds of meters. Generally, the depth of ultra-deep anti-seepage walls can exceed 200 meters. However, due to the length of the casting pipes, which are generally between 3m and 6m and the diameter of about 100mm to 300mm, they are heavy and cannot be transported or loaded and unloaded manually. Usually, they need the assistance of lifting or suspension machinery.

[0003] The pouring of anti-seepage walls usually requires continuity to ensure that the concrete wall formed after solidification has good consistency, avoiding joints between structures that become leakage points for anti-seepage failure; this places high demands on 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 uniform in the industry. Usually, the leading companies in the industry carry out self-developed construction, but almost all of them use lifting equipment or auxiliary machinery to lift the pouring pipes. The installation or disassembly of the pouring pipes is completed by two operators working together. This process generally takes a long 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 cause 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 degree of 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 degree of 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 pouring pipes, it is difficult for manual operation to quickly maintain a high coaxiality of the two pouring pipes to be connected due to factors such as the heavy weight and large size of the pouring pipes themselves, which makes it easy for the threads of the pouring pipes to slip during the connection process, resulting in difficulty in connecting the pouring pipes and even the problem of the pouring pipes being scrapped. The present application provides a pouring 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 slippage of pouring pipe connections.

[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 in axial stress, the threads of the two casting pipes are ensured to be completely coaxial; 2. By using an axial sensor to monitor the axial stress in real time and combining it with a mathematical model to determine whether the thread jumps, thread slippage is avoided; 3. The rotation direction and speed of the power head are dynamically adjusted according to the change in axial stress to ensure the reliability of the threaded connection. The probability of thread slippage of the casting pipe during the connection process is significantly reduced, effectively avoiding the problem of damage to the casting pipe thread due to casting pipe slippage, or even the problem of casting pipe scrapping, thereby improving the efficiency and quality of 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 connection and disassembly of the pouring pipe are automated. 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 objectives, the technical solutions adopted in this application are:

[0007] A method for controlling the loading and unloading stress of a pouring pipe is provided. 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 pouring pipe to be tested vertically just below the power head used for loading / unloading the pouring 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 is r / min, and the descending speed is v, unit is 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 the force by 10N and continue testing until the thread end of the pipe is deformed for the Jth time; record the J-1st axial stress F a The maximum value 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; 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;

[0012] Step STP300: Connect the upper end of the pouring pipe, control the power head to rotate in the forward direction, the speed is ω, and detect the change of the torque T applied by the power head on the pouring pipe 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 lower it 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;

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

[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 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 the following steps: a (t) In step STP400 of dynamically adjusting the rotational speed ω, the adjusted rotational 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 rotational speed ω in step STP400 according to the real-time torque T(t), and the adjusted rotational 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 threshold for judging slippage;

[0036] And the overload judgment step, when T(t) exceeds the safety torque threshold T safe , then stop rotating immediately and give an alarm, which is expressed as If T(t)>T safe , then is overloaded and performs an automatic fallback.

[0037] The present invention also provides a pouring pipe loading and unloading device for executing the above-mentioned method for controlling the stress of pouring pipe loading and unloading, which 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 mounted on a gantry, and a fixing mechanism disposed 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 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;

[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 reverse rotation of the power head and detecting the periodic changes in axial stress, it is ensured that the threads of the two casting pipes are completely coaxial.

[0041] 2. Use axial sensors to monitor axial stress in real time and combine with mathematical models to determine whether the thread is gapping to avoid thread slippage.

[0042] 3. The rotation direction and speed of the power head are dynamically adjusted according to the changes in axial stress to ensure the reliability of the threaded connection. This significantly reduces the probability of thread slippage during the connection process, effectively avoiding damage to the casting pipe threads due to thread slippage, and even the problem of casting pipe scrapping, thereby improving the efficiency and quality of casting pipe connections.

[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 connection and disassembly of the pouring pipe are automated. 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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-Fixed mechanism. DETAILED DESCRIPTION

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein 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 protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without making any creative efforts shall fall 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, it does not need to be further defined or explained in subsequent drawings.

[0050] In the description of this application, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying 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. Therefore, it 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] Furthermore, the use of terms such as "horizontal" and "vertical" in the description of this application does not necessarily imply that a component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical" and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0052] It should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. A person of ordinary skill in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0053] Preferred embodiment:

[0054] A method for controlling the loading and unloading stress of a pouring pipe is provided. 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 pouring pipe to be tested vertically just below the power head used for loading / unloading the pouring 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 is r / min, and the descending speed is v, unit is 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 isa Increase the force by 10N and continue testing until the thread end of the pipe is deformed for the Jth time; record the J-1st axial stress F a The maximum value 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; 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;

[0059] Step STP300: Connect the upper end of the pouring pipe, control the power head to rotate in the forward direction, the speed is ω, and detect the change of the torque T applied by the power head on the pouring pipe 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 lower it 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;

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

[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 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 periodic adjustment step 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, which is [3, 10]. is the peak axial stress of the ith cycle.

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

[0075]

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

[0077] This embodiment further includes a step of dynamically adjusting the speed ω in step STP400 according to the real-time torque T(t). 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 threshold for judging slippage;

[0083] And the overload judgment step, when T(t) exceeds the safety torque threshold T safe , then stop rotating immediately and give an alarm, which is expressed as If T(t)>T safe , then is overloaded and performs an automatic fallback.

[0084] Example 2:

[0085] See the instructions attached Figure 1 As shown, this embodiment provides a pouring pipe loading and unloading device for executing a pouring pipe loading and unloading stress control method described in Example 1, 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 disposed 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 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 merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A method for controlling the stress of pouring pipe loading and unloading, which collects the axial stress by the axial stress sensor and torque sensor installed in the power head. , and torque , characterized in that, The following steps are involved: Step STP100: Detect the maximum stress of the current casting pipe thread , fix the pouring pipe to be tested vertically under the power head used for loading / unloading the pouring pipe, control the power head to rotate and slowly descend at the same time; the power head rotates in the opposite direction and the speed is , unit r / min, the descent speed is , unit mm / min; when axial stress With rotation time After a periodic change, the axial stress exerted by the power head on the pouring pipe after each cycle test is completed is Increase 10N and continue testing until the Until the structural deformation occurs at the end of the pipe thread; record the Secondary axial stress The maximum value As the maximum stress of the current casting pipe thread, record the Secondary axial stress value; continue to rotate the power head until the axial stress Drop instantly and record the axial stress at this time The value of Step STP200, establish the current pouring pipe standard axial stress function, repeat the Secondary axial stress 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 standard axial stress function of the current pouring pipe is obtained. in, is the maximum value of the axial stress, is the stress variation cycle, is the offset of the axial stress; , is the control function shape parameter, and > ; is the period of the function, It is the time period dividing point where the function drops rapidly from its maximum value; Step STP300, connect the upper end of the pouring pipe, control the power head to rotate in the forward direction, the speed is , and at the same time detect the torque applied by the power head to the pouring pipe Over time The change when the real torque is applied Reaching the preset torque 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 lower it by controlling the power until the axial stress When the speed is >30N, the power head is controlled to rotate in the opposite direction. , and detect the current axial stress in real time Is the axial stress in step STP200 obeyed? stress function; If it does not obey, continue to rotate in the opposite direction or manually adjust the placement of the pouring pipe; If it obeys, the power head is controlled to rotate in the forward direction at a speed of , and simultaneously detect the real-time torque exerted by the current pouring pipe on the fixed pouring pipe below Whether the preset requirements are met, = in, is the preset torque value, τ is the time constant, which controls the rate of torque increase; if = , the current pouring pipe connection is completed.

2. A method for controlling stress during installation and removal of a pouring pipe according to claim 1, characterized in that: Also includes the axial stress in step STP100 The steps of using low-pass filter to smooth the signal, the axial stress after filtering The following formula is used to obtain: in, is the filter coefficient, which is used to control the degree of smoothing.

3. A method for controlling stress during installation and removal of a pouring pipe according to claim 1, characterized in that: Also includes the preset torque in step STP300 Dynamic adjustment steps, the preset torque value after adjustment Obtained by the following formula, in, is the base torque value, It is the deviation caused by environmental factors. is the correction factor.

4. A method for controlling stress during installation and removal of a pouring pipe according to claim 1, characterized in that: Also includes the step of periodically adjusting the step STP200, the adjusted axial stress Obtained by the following formula: in, is the number of detection cycles, It is The peak axial stress of each cycle.

5. A method for controlling stress during installation and removal of a pouring pipe according to claim 1, characterized in that: Also includes the axial stress For the speed in step STP400 Dynamic adjustment steps, adjusted speed Obtained by the following formula: in, is the target axial stress value, is the feedback coefficient, is the base speed.

6. A method for controlling stress during installation and removal of a pouring pipe according to claim 1, characterized in that: Also includes real-time torque For the speed in step STP400 Dynamic adjustment steps, adjusted speed Obtained by the following formula: in, is the torque feedback coefficient, is the base speed.

7. A method for controlling stress during installation and removal of a pouring pipe according to claim 1, characterized in that: It also includes abnormality handling steps, specifically including thread stripping detection steps, axial stress detection 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; Slip in, is the wire slip judgment threshold; And the steps of overload judgment, when Exceeding the safe torque threshold , then the rotation stops immediately and an alarm is issued, which is expressed as , Overload and perform automatic rollback.

8. A pouring pipe loading and unloading device, characterized in that: The method for controlling the loading and unloading stress of a pouring pipe according to any one of claims 1 to 7 specifically comprises 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 axial stress. Axial stress sensor and torque sensor 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. 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 according to any one of claims 1 to 7.

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