Large-gradient long inclined shaft concrete conveying system

Abstract

The invention discloses a concrete conveying system for a large-gradient long inclined shaft. The concrete conveying system comprises a ground concrete transport vehicle, a discharging device, an enamel chute, a transfer storage box, horizontal spiral concrete conveying equipment, an in-hole concrete transport vehicle and a control unit. The enamel chute is of a sectional structure and is composed of a plurality of hinged sections, and locking spherical hinges are arranged between the hinged sections and used for adapting to working conditions of different gradients. The lower end of the enamel chute is connected with the transfer storage box and connected with a feeding port of the horizontal spiral concrete conveying equipment, at least two material level detectors are arranged on the top of the transfer storage box in the length direction, and after detection signals are processed by the control unit, the variable frequency of the spiral conveying equipment is adjusted in real time. And the material level in the material storage box is maintained in a preset height interval of 1-1.6 m. The inclined shaft concrete conveying device can achieve efficient and stable conveying of inclined shaft concrete and has the advantages of being high in structural adaptability, continuous and uniform in feeding and capable of preventing concrete segregation and blockage.

Description

Technical Field

[0001] The invention belongs to the technical field of tunnel engineering, and in particular relates to a concrete conveying system for a long inclined shaft with a large slope. Background Art

[0002] During tunnel concrete pouring, the safety and impermeability of the final structure depend primarily on the quality of the concrete. Excessive influence from external factors can easily lead to quality issues, hindering not only the orderly progress of construction but also the company's economic benefits.

[0003] The quality control of pouring concrete in a long inclined shaft with a large slope is the focus of construction. How to transport the concrete to the working surface in the tunnel with guaranteed quality and quantity is the key.

[0004] The construction of pouring concrete in a long inclined shaft with a large slope, the loss of mortar during the concrete pouring process using an enamel chute, the transportation of concrete after reaching the bottom of the tunnel, and the horizontal transportation within the tunnel are construction technical problems that need to be solved urgently in this field. Summary of the Invention

[0005] The problem to be solved by the present invention is to provide a large-slope long inclined shaft concrete conveying system that can realize efficient and stable conveying of inclined shaft concrete and has the advantages of strong structural adaptability, continuous and uniform feeding, and prevention of concrete segregation and blockage.

[0006] The technical solution of the present invention is: a concrete conveying system for a long inclined shaft with a large slope, comprising: a ground concrete transport vehicle, a material discharge device, an enamel chute, a transfer storage box, a horizontal spiral concrete conveying device, an in-tunnel concrete transport vehicle and a control unit, wherein the ground concrete transport vehicle is located next to the material discharge device, the material feed port of the material discharge device is arranged on the ground, and the material discharge port of the material discharge device is arranged near the hole of the large inclined shaft, the material discharge device is a funnel structure, one end of the enamel chute is located below the material discharge port of the material discharge device, and the other end of the enamel chute is connected to the horizontal spiral concrete conveying device. The feed port is connected, the enamel chute is also connected to the transfer storage box, the enamel chute is a segmented structure, the enamel chute is composed of several hinged sections, and locking spherical hinges are provided between the hinged sections. At least two material level detectors are provided on the top of the transfer storage box along the length direction of the box body. The material level detectors are connected to the control unit. The control unit adjusts the spiral inverter frequency of the horizontal spiral concrete conveying equipment in real time to maintain the concrete material surface in the transfer storage box between the preset height range of 1-1.6m. An in-hole concrete transport vehicle is provided below the discharge port of the horizontal spiral concrete conveying equipment.

[0007] Furthermore, the adjustment angle range of the hinge section of the enamel chute is 25°-45°.

[0008] Furthermore, a microporous water seepage belt is embedded in the inner side of the enamel chute along the axial direction of the bottom of the chute, and the area where the microporous water seepage belt is located is the hydrophilic area. The remaining chute surface of the enamel chute is sprayed with a composite coating with alternating hydrophobic stripes and hydrophilic stripes. The remaining chute surface is the hydrophobic area, the static contact angle of the hydrophobic area is ≥140°, the static contact angle of the hydrophilic area is ≤30°, and the center distance between adjacent hydrophilic stripes is 20-30mm.

[0009] Furthermore, the material level detector is a millimeter wave radar array, and the control unit runs a PID control algorithm to generate an adjustment value based on the material surface height error, which is used to correct the screw motor speed of the horizontal screw concrete conveying equipment; the PID algorithm is specifically:

[0010] Set target material level h * If it falls at the midpoint of the preset height range, the material level error is:

[0011] Where e(t) is the material level error. A positive value indicates that the material level is lower than the target and the feeding needs to be accelerated.

[0012] h * is the target material level, is the measured average material level;

[0013] The adjustment amount is the output frequency f(t) of the spiral inverter:

[0014]

[0015] f(t)=sat(f0+u(t),f min , f max ),

[0016] Where u(t) is the PID operation output, that is, the frequency increment; K p is the proportional gain, that is, when e(t) deviates by 1 cm, the spiral frequency is immediately corrected by K p ×1cm,K p =1.5Hz / cm; K i K is the integral gain, which integrates the accumulated error, eliminates steady-state deviation, and prevents low-frequency drift. i =0.1Hz / cm·s; K d K is the differential gain, which responds quickly to the error change rate and suppresses overshoot and oscillation. d =4Hz.s / cm; t is the time variable, i.e. the continuous time of the control system; f0 is the reference frequency, i.e. the average operating frequency required to maintain the material surface at the target height; f(t) is the output frequency after saturation, which is sent to the frequency converter and directly determines the screw speed; f min is the minimum frequency to avoid motor stall or insufficient flow, f min =15Hz; fmax is the maximum frequency, to avoid overload, segregation or material throwing, f max =60Hz.

[0017] Furthermore, the control unit also receives a signal from a flow rate sensor disposed at the end of the enamel chute and adjusts the drive frequency of the horizontal spiral concrete conveying equipment and the slope of the enamel chute according to a preset material level-flow rate dual-variable coupling model, so that the volume flow rate at the spiral outlet of the horizontal spiral concrete conveying equipment is maintained within ±5% of the set value. The expression of the material level-flow rate dual-variable coupling model is:

[0018] Q=k1H α n β sinθ γ ,

[0019] Where Q is the spiral outlet volume flow rate, k1 is the comprehensive proportionality coefficient, an empirical constant that includes the combined effects of equipment size, concrete viscosity, and resistance loss, k1 = 0.015-0.025; H is the height of the transfer material surface, α is the material level influence index, which describes the intensity of the influence of the material surface height on the flow rate, α = 0.6-0.8; n is the spiral frequency, β is the spiral frequency index, which describes the sensitivity of spiral frequency changes to flow rate, β = 1; θ is the chute slope, γ is the slope influence index, which describes the nonlinear amplification effect of steeper slopes and faster sliding, γ = 1-1.4;

[0020] The method for adjusting the driving frequency of the horizontal spiral concrete conveying equipment is: performing PID calculation based on the material level error:

[0021]

[0022] n(t)=sat(n0+u n (t), n min , n max ),

[0023] Where u n (t) is the PID output value, that is, the frequency adjustment amount calculated by the control system according to the material level difference; K p is the proportional gain, that is, when e(t) deviates by 1 cm, the spiral frequency is immediately corrected by K p ×1cm,K p =1.5Hz / cm; K i K is the integral gain, which integrates the accumulated error, eliminates steady-state deviation, and prevents low-frequency drift. i =0.1Hz / cm·s; K d K is the differential gain, which responds quickly to the error change rate and suppresses overshoot and oscillation. d =4Hz.s / cm; e H(t) is the material level error, that is, the deviation between the real-time material level and the target material level; n(t) is the output frequency, n0 is the reference frequency, n min is the minimum frequency to prevent the motor from stalling or freezing, n min =15Hz;n max is the maximum frequency, limiting the risk of segregation or material rejection at high screw speeds, n max =60Hz;

[0024] The method for adjusting the slope of the enamel chute is to perform PI calculation based on the flow error:

[0025] Δθ(t)=K pθ ·e Q (t)+K iθ ·∫e Q (t)dt

[0026] θ(t)=rate_limit(θ0+Δθ(t),±r max ),

[0027] Where Δθ(t) is the control increment, that is, the slope adjustment value obtained by PI operation; K pθ is the proportional gain, that is, the instantaneous impact of the current flow error on the slope adjustment, K pθ The value range of K is 0.3–0.6; iθ is the integral gain, i.e. the cumulative compensation of the continuous flow error, used to eliminate the deviation, K pθ The value range of is 0.01–0.05; e Q (t) is the flow error, that is, the difference between the current volume flow rate and the target volume flow rate; θ0 is the current slope, that is, the actual slope of the enamel chute at the beginning of the control cycle; θ(t) is the target slope, that is, the target slope set by the control system after limitation; r max is the maximum rate of change of slope, r max The value range is 0.5–1.5° / s.

[0028] Furthermore, LoRa wireless communication is adopted between the material level detector and the control unit. The control unit uploads the real-time material surface height, screw speed and alarm status to the cloud platform through the 4G or 5G module, and the construction management terminal remotely sends the speed setting value and parameter updates to the control unit.

[0029] Beneficial effects of the present invention:

[0030] 1. Adaptive conveying slope: The segmented enamel chute adopts a locking spherical hinge with an adjustable angle of 25°–45°, which can quickly match different inclined shaft angles and local turns, avoiding frequent disassembly and assembly, and significantly improving installation and transfer efficiency;

[0031] 2. Anti-segregation and anti-clogging: A microporous water-seepage belt is embedded in the bottom of the enamel chute to form a lubricating water film. Combined with a hydrophobic-hydrophilic striped composite coating (contact angle hydrophobic ≥140°, hydrophilic ≤30°), it enables the aggregate to automatically slide to the side and the slurry to flow in the center, resulting in continuous self-cleaning and reducing the blockage rate by more than 60%;

[0032] 3. Dual-variable coupling flow control: Based on the material level-flow rate dual-variable coupling model, the control unit synchronously adjusts the spiral frequency and the enamel chute slope to stabilize the spiral outlet volume flow rate within ±5% of the target; the flow steady-state error is reduced by more than 60%;

[0033] 4. Optimize actuator life and energy consumption: Adopt a "fast inner loop-slow outer loop" strategy: fast compensation of spiral frequency, slow slope adjustment speed limit (0.5-1.5° / s), to reduce electro-hydraulic shock and motor overload;

[0034] 5. Wireless data and remote operation and maintenance: The material level detector communicates with the control unit via LoRa, and the control unit is connected to the cloud via 4G / 5G; the management terminal can remotely issue parameters and receive alarms, achieving unmanned operation and pre-fault warning, reducing the intensity of manual inspections;

[0035] In summary, the large-slope long inclined shaft concrete delivery system of the present invention realizes the high-efficiency, stable-flow, low-segregation scheme of "long-distance-large-slope" concrete delivery, reduces pipe blockage and shutdown, improves the pouring quality and progress safety, and has significant economic and on-site application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural schematic diagram of a large-slope long inclined shaft concrete conveying system of the present invention.

[0037] In the figure: 1-ground concrete transport vehicle, 2-unloading device, 3-enamel chute, 4-steep inclined shaft, 5-transfer storage box, 6-horizontal conveying screw equipment, 7-in-tunnel concrete transport vehicle. DETAILED DESCRIPTION

[0038] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; and direct or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0039] like Figure 1As shown, a concrete conveying system for a long inclined shaft with a large slope comprises: a ground concrete transport vehicle 1, a feeding device 2, an enamel chute 3, a transfer storage box 5, a horizontal spiral concrete conveying device 6 (such as Xugong concrete conveying equipment), an in-tunnel concrete transport vehicle 7 and a control unit (such as Schneider Modicon M340 / M262). The ground concrete transport vehicle 1 is located next to the feeding device 2, the feeding port of the feeding device 2 is set on the ground, and the discharging port of the feeding device 2 is set near the hole of the large-slope inclined shaft 4. The feeding device 2 is a funnel structure. One end of the enamel chute 3 is located below the discharging port of the feeding device 2, and the other end of the enamel chute 3 is connected to the feeding port of the horizontal spiral concrete conveying device 6. The enamel chute 3 is also connected to the transfer storage box 5. The enamel chute 3 is a segmented type. The structure of the enamel chute 3 is composed of several hinged sections, and locking spherical hinges are provided between the hinged sections. At least two material level detectors are provided on the top of the transfer storage box 5 along the length direction of the box body. The material level detectors are connected to the control unit. The control unit adjusts the spiral inverter frequency of the horizontal spiral concrete conveying equipment 6 in real time to maintain the concrete material surface in the transfer storage box 5 between the preset height range of 1-1.6m. An in-hole concrete transport vehicle 7 is provided below the discharge port of the horizontal spiral concrete conveying equipment 6.

[0040] Preferably, the adjustment angle range of the hinge section of the enamel chute 3 is 25°-45°.

[0041] Preferably, a microporous water seepage belt is embedded in the inner side of the enamel chute 3 along the axial direction of the bottom of the chute, and the area where the microporous water seepage belt is located is the hydrophilic area. The remaining trough surface of the enamel chute 3 is sprayed with a composite coating with hydrophobic stripes and hydrophilic stripes arranged alternately. The remaining trough surface is the hydrophobic area, the static contact angle of the hydrophobic area is ≥140°, the static contact angle of the hydrophilic area is ≤30°, and the center distance between adjacent hydrophilic stripes is 20-30mm.

[0042] Preferably, the material level detector is a millimeter wave radar array, and the control unit runs a PID control algorithm to generate an adjustment amount according to the material surface height error, which is used to correct the screw motor speed of the horizontal screw concrete conveying equipment 6; the PID algorithm is specifically:

[0043] Assuming the target material level h* falls at the midpoint of the preset height range, the material level error is:

[0044]

[0045] Where, e(t) is the material level error. A positive value indicates that the material level is lower than the target and the feeding needs to be accelerated. * is the target material level, is the measured average material level;

[0046] The adjustment amount is the output frequency f(t) of the spiral inverter:

[0047]

[0048] f(t)=sat(f0+u(t),f min , f max ),

[0049] Where u(t) is the PID operation output, that is, the frequency increment; K p is the proportional gain, that is, when e(t) deviates by 1 cm, the spiral frequency is immediately corrected by K p ×1cm,K p =1.5Hz / cm; K i K is the integral gain, which integrates the accumulated error, eliminates steady-state deviation, and prevents low-frequency drift. i =0.1Hz / cm·s; K d K is the differential gain, which responds quickly to the error change rate and suppresses overshoot and oscillation. d =4Hz·s / cm; t is the time variable, i.e. the continuous time of the control system; f0 is the reference frequency, i.e. the average operating frequency required to maintain the material surface at the target height; f(t) is the output frequency after saturation, which is sent to the frequency converter and directly determines the screw speed; f min is the minimum frequency to avoid motor stall or insufficient flow, f min =15Hz; f max is the maximum frequency, to avoid overload, segregation or material throwing, f max =60Hz.

[0050] Preferably, the control unit further receives a signal from a flow rate sensor provided at the end of the enamel chute 3, and adjusts the driving frequency of the horizontal spiral concrete conveying device 6 and the slope of the enamel chute 3 according to a preset material level-flow rate dual-variable coupling model, so that the volume flow rate at the spiral outlet of the horizontal spiral concrete conveying device 6 is maintained within ±5% of the set value; the expression of the material level-flow rate dual-variable coupling model is:

[0051] Q=k1H α n β sinθ γ ,

[0052] Where Q is the spiral outlet volume flow rate, k1 is the comprehensive proportionality coefficient, an empirical constant that includes the combined effects of equipment size, concrete viscosity, and resistance loss, k1 = 0.015-0.025; H is the height of the transfer material surface, α is the material level influence index, which describes the intensity of the influence of the material surface height on the flow rate, α = 0.6-0.8; n is the spiral frequency, β is the spiral frequency index, which describes the sensitivity of spiral frequency changes to flow rate, β = 1; θ is the chute slope, γ is the slope influence index, which describes the nonlinear amplification effect of steeper slopes and faster sliding, γ = 1-1.4;

[0053] The method for adjusting the driving frequency of the horizontal spiral concrete conveying device 6 is: performing PID calculation based on the material level error:

[0054]

[0055] n(t)=sat(n0+u n (t), n min , n max ),

[0056] Where u n (t) is the PID output value, that is, the frequency adjustment amount calculated by the control system according to the material level difference; K p is the proportional gain, that is, when e(t) deviates by 1 cm, the spiral frequency is immediately corrected by K p ×1cm,K p =1.5Hz / cm; K i K is the integral gain, which integrates the accumulated error, eliminates steady-state deviation, and prevents low-frequency drift. i =0.1Hz / cm·s; K d K is the differential gain, which responds quickly to the error change rate and suppresses overshoot and oscillation. d =4Hz.s / cm; e H (t) is the material level error, that is, the deviation between the real-time material level and the target material level; n(t) is the output frequency, n0 is the reference frequency, n min is the minimum frequency to prevent the motor from stalling or freezing. min =15Hz;n max is the maximum frequency, limiting the risk of segregation or material rejection at high screw speeds, n max =60Hz;

[0057] The method for adjusting the slope of the enamel chute 3 is to perform PI calculation based on the flow error:

[0058] Δθ(t)=K pθ ·e Q (t)+K iθ ·∫e Q (t)dt

[0059] θ(t)=rate_limit(θ0+Δθ(t),±r max ),

[0060] Where Δθ(t) is the control increment, that is, the slope adjustment value obtained by PI operation; K pθ is the proportional gain, that is, the instantaneous impact of the current flow error on the slope adjustment, K pθ The value range of K is 0.3-0.6; iθ is the integral gain, i.e. the cumulative compensation of the continuous flow error, used to eliminate the deviation, K pθ The value range is 0.01-0.05; e Q (t) is the flow error, that is, the difference between the current volume flow rate and the target volume flow rate; θ0 is the current slope, that is, the actual slope of the enamel chute at the beginning of the control cycle; θ(t) is the target slope, that is, the target slope set by the control system after limitation; r max is the maximum rate of change of slope, r max The value range is 0.5-1.5° / s.

[0061] Preferably, LoRa wireless communication is used between the material level detector and the control unit. The control unit uploads the real-time material surface height, screw speed and alarm status to the cloud platform through the 4G or 5G module, and the construction management terminal remotely sends the speed setting value and parameter updates to the control unit.

[0062] During use, the control unit's management system is turned on, and the material level detector and flow rate sensor are activated. The horizontal spiral concrete conveying equipment is started and put into standby mode. The ground concrete transport vehicle 1 is then started to feed the material, and the concrete discharge device is observed to see whether it is flowing smoothly into the enamel chute 3. The automatic control program is then started, and the control system begins closed-loop operation. During system operation, if the spiral frequency is higher than 45Hz and the enamel chute angle is greater than 34°, the system will automatically issue an alarm and reduce speed to prevent segregation. Excessive material level or excessive flow will trigger an interlock shutdown. If the fluidity changes due to changes in the concrete mix ratio, the management personnel can modify the target material level, flow rate and other set values ​​in the cloud. At the end of use, the feeding system (ground concrete transport vehicle 1) is first turned off, and the spiral and slope adjustment are maintained for about 2-3 minutes to discharge the remaining material. The horizontal spiral conveying equipment 6 is then stopped, and the power supply of the sensor and control unit is turned off in turn. Finally, the accumulated material in the transfer storage box 5 and the enamel chute 3 is cleared to facilitate the next start.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A large-slope long inclined shaft concrete delivery system, characterized in that: include: A ground concrete transport vehicle (1), a material discharge device (2), an enamel chute (3), a transfer storage box (5), a horizontal spiral concrete conveying device (6), an in-tunnel concrete transport vehicle (7) and a control unit, wherein the ground concrete transport vehicle (1) is located next to the material discharge device (2), the material feed port of the material discharge device (2) is arranged on the ground, the material discharge port of the material discharge device (2) is arranged near the entrance of a steep inclined shaft (4), the material discharge device (2) is a funnel structure, one end of the enamel chute (3) is located below the material discharge port of the material discharge device (2), and the other end of the enamel chute (3) is connected to the material feed port of the horizontal spiral concrete conveying device (6). The enamel chute (3) is also connected to the transfer storage box (5). The enamel chute (3) is a segmented structure. The enamel chute (3) is composed of a plurality of hinged sections. Locking spherical hinges are provided between the hinged sections. At least two material level detectors are provided on the top of the transfer storage box (5) along the length direction of the box body. The material level detectors are connected to a control unit. The control unit adjusts the frequency of the spiral inverter of the horizontal spiral concrete conveying equipment (6) in real time to maintain the concrete material surface in the transfer storage box (5) within a preset height range of 1-1.6m. An in-hole concrete transport vehicle (7) is provided below the discharge port of the horizontal spiral concrete conveying equipment (6).

2. A large-slope long inclined shaft concrete delivery system according to claim 1, characterized in that: The adjustment angle range of the hinge section of the enamel chute (3) is 25°-45°.

3. A large-slope long inclined shaft concrete delivery system according to claim 1, characterized in that: The inner side of the enamel chute (3) is embedded with a microporous water seepage belt along the axial direction of the bottom of the chute, and the area where the microporous water seepage belt is located is a hydrophilic area. The remaining chute surface of the enamel chute (3) is sprayed with a composite coating in which hydrophobic stripes and hydrophilic stripes are alternately arranged. The remaining chute surface is a hydrophobic area. The static contact angle of the hydrophobic area is ≥140°, and the static contact angle of the hydrophilic area is ≤30°. The center distance between adjacent hydrophilic stripes is 20-30 mm.

4. A large-slope long inclined shaft concrete delivery system according to claim 1, characterized in that: The material level detector is a millimeter wave radar array, and the control unit runs a PID control algorithm to generate an adjustment amount according to the material surface height error, which is used to correct the screw motor speed of the horizontal screw concrete conveying equipment (6); the PID algorithm is specifically: Set target material level h * If it falls at the midpoint of the preset height range, the material level error is: Where e(t) is the material level error. A positive value indicates that the material level is lower than the target and the feeding needs to be accelerated. h * is the target material level, is the measured average material level; The adjustment amount is the output frequency f(t) of the spiral inverter: f(t)=sat(f0+u(t),f min ,f max ), Where u(t) is the PID operation output, that is, the frequency increment; K p is the proportional gain, that is, when e(t) deviates by 1 cm, the spiral frequency is immediately corrected by K p ×1cm,K p =1.5Hz / cm; K i K is the integral gain, which integrates the accumulated error, eliminates steady-state deviation, and prevents low-frequency drift. i =0.1Hz / cm.s; K d K is the differential gain, which responds quickly to the error change rate and suppresses overshoot and oscillation. d =4Hz·s / cm; t is the time variable, i.e. the continuous time of the control system; f0 is the reference frequency, i.e. the average operating frequency required to maintain the material surface at the target height; f(t) is the output frequency after saturation, which is sent to the frequency converter and directly determines the screw speed; f min is the minimum frequency to avoid motor stall or insufficient flow, f min =15Hz; f max is the maximum frequency, to avoid overload, segregation or material throwing, f max =60Hz.

5. The large-slope long inclined shaft concrete delivery system according to claim 1 is characterized in that: The control unit also receives a signal from a flow rate sensor provided at the end of the enamel chute (3), and adjusts the driving frequency of the horizontal spiral concrete conveying device (6) and the slope of the enamel chute (3) according to a preset material level-flow rate dual variable coupling model, so that the spiral outlet volume flow rate of the horizontal spiral concrete conveying device (6) is maintained within ±5% of the set value; the expression of the material level-flow rate dual variable coupling model is: Q=k1H α n β sinθ γ , Where Q is the spiral outlet volume flow rate, k1 is the comprehensive proportionality coefficient, an empirical constant that includes the combined effects of equipment size, concrete viscosity, and resistance loss, k1 = 0.015-0.025; H is the height of the transfer material surface, α is the material level influence index, which describes the intensity of the influence of the material surface height on the flow rate, α = 0.6-0.8; n is the spiral frequency, β is the spiral frequency index, which describes the sensitivity of spiral frequency changes to flow rate, β = 1; θ is the chute slope, γ is the slope influence index, which describes the nonlinear amplification effect of steeper slopes and faster sliding, γ = 1-1.4; The method for adjusting the driving frequency of the horizontal spiral concrete conveying device (6) is as follows: performing PID calculation based on the material level error: n(t)=sat(n0+u n (t),n min ,n max ), Where u n (t) is the PID output value, that is, the frequency adjustment amount calculated by the control system according to the material level difference; K p is the proportional gain, that is, when e(t) deviates by 1 cm, the spiral frequency is immediately corrected by K p ×1cm,K p =1.5Hz / cm; K i K is the integral gain, which integrates the accumulated error, eliminates steady-state deviation, and prevents low-frequency drift. i =0.1Hz / cm.s; K d K is the differential gain, which responds quickly to the error change rate and suppresses overshoot and oscillation. d =4Hz·s / cm; e H (t) is the material level error, that is, the deviation between the real-time material level and the target material level; n(t) is the output frequency, n0 is the reference frequency, n min is the minimum frequency to prevent the motor from stalling or freezing. min =15Hz;n max is the maximum frequency, limiting the risk of segregation or material rejection at high screw speeds, n max =60Hz; The method for adjusting the slope of the enamel chute (3) is as follows: performing PI calculation based on the flow error: Δθ(t)=K pθ ·e Q (t)+K iθ ·∫e Q (t)dt θ(t)=rate_limit(θ0+Δθ(t),±r max ), Where Δθ(t) is the control increment, that is, the slope adjustment value obtained by PI operation; K pθ is the proportional gain, that is, the instantaneous impact of the current flow error on the slope adjustment, K pθ The value range of K is 0.3-0.6; iθ is the integral gain, i.e. the cumulative compensation of the continuous flow error, used to eliminate the deviation, K pθ The value range is 0.01-0.05; e Q (t) is the flow error, that is, the difference between the current volume flow rate and the target volume flow rate; θ0 is the current slope, i.e., the actual slope of the enamel chute at the beginning of the control cycle; θ(t) is the target slope, i.e., the target slope set by the control system after being restricted; r max is the maximum rate of change of slope, r max The value range is 0.5–1.5° / s.

6. A large-slope long inclined shaft concrete delivery system according to claim 1, characterized in that: LoRa wireless communication is used between the material level detector and the control unit. The control unit uploads the real-time material surface height, screw speed and alarm status to the cloud platform through the 4G or 5G module, and the construction management terminal remotely sends the speed setting value and parameter updates to the control unit.

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