Fixed-height rockfill method for engineering structure constructed by rockfill concrete

Abstract

The invention relates to a fixed-height rockfill method for an engineering structure constructed by rockfill concrete. The fixed-height rockfill method comprises the following steps: determining a rockfill height parameter h; a rockfill route is prepared in advance; driving the rockfill self-unloading equipment to a current rockfill point on the rockfill route to start rockfill; when the connecting line of the current rockfill point and the previous rockfill point coincides with the center line of the rockfill self-discharging equipment, the vertical line from the current rockfill point to the edge of the previous rockfill is the rockfill distance l; the rockfill self-discharging equipment is driven to discharge all the stones in the hopper to a working face; the actual height h'of the current rock pile is measured, and a correction coefficient lambda is determined according to the error between h 'and h; by means of the fixed-height rockfill method, the rockfill parameters can be dynamically corrected based on the actual rockfill height, the utilization rate of rockfill equipment is greatly increased, and the rockfill operation progress in the working face is accelerated.

Description

Technical Field

[0001] The present application relates to a rockfill method, and in particular to a fixed-height rockfill method for an engineering structure constructed with rockfill concrete, and a rockfill route for rockfilling within a working surface based on the method. Background Art

[0002] Currently, in rockfill concrete projects, the traditional method for controlling rockfill height is to use excavators or rock grabbers with manual assistance. For example, in rockfill concrete dam construction, rockfill height control techniques fall into two main categories: the first involves dump trucks transporting the rockfill to the working surface, where it is then spread by excavators to adjust the rockfill height. The second involves tower cranes hoisting the rockfill to the working surface, where it is then leveled manually or with auxiliary equipment.

[0003] The commonly used rock pile paving method in the above-mentioned projects has many deficiencies in height control. The existing rock pile paving height control mainly relies on manual interpretation. When paving over a large area, mechanical equipment such as excavators and stone grabbers need to be constantly used to adjust the position of the rock pile to meet the overall rock pile rate and rock pile height requirements. Moreover, frequent height adjustments not only cause the rock pile to break, produce sub-diameter materials and stone slag and stone powder, but also seriously prolong the construction time of the rock pile paving.

[0004] Therefore, it is a technical problem that needs to be solved urgently to propose an engineering height determination method that is expected to significantly improve the accuracy and construction efficiency of rockfill height control and improve the simplicity and intelligence level of construction. Summary of the Invention

[0005] In response to the technical problems existing in the existing technology, this application proposes a method for engineering fixed-height stone piles, which can calculate the unloading position of each vehicle through the engineering fixed-height stone pile formula, so that the top height of each stone pile after natural formation is close to the design value h, reducing human estimation errors and repeated leveling, and can achieve the purpose of reducing intermediate leveling and rework links, reducing dependence on manual experience, and realizing adaptive control of the construction process.

[0006] The present application proposes a method for determining the height of a rock-filling structure for rock-fill concrete construction, comprising the following steps: Step 100: determining a rock-filling height parameter h in the rock-filling parameters according to the design height of the working surface; pre-planning a rock-filling route according to the shape of the working surface, and driving a rock-filling self-unloading device to unload the materials in sequence according to the rock-filling sequence in the rock-filling route to complete the rock-filling operation; Step 200: driving the rock-filling self-unloading device to a current rock-filling point to start rock-filling; when the line connecting the current rock-filling point and the previous rock-filling point coincides with the center line of the rock-filling self-unloading device, the perpendicular line from the current rock-filling point to the edge of the previous rock-filling point is the rock-filling distance l; the rock-filling distance l is calculated based on a plurality of rock-filling parameters, and the positional relationship between the current rock-filling point and the previous rock-filling point conforms to the direction setting of the rock-filling route. Step 300: Drive the bucket of the rock pile dump truck to gradually flip to a maximum flip angle θ, and unload all the rocks in the bucket onto the working surface. Step 400: Measure the actual height h' of the current rock pile, and determine a correction coefficient λ based on the error between the actual height h' and the rock pile height parameter h; wherein the correction coefficient λ = actual height h' / rock pile height parameter h. Step 500: Correct the rock pile distance l' of the next rock pile based on the correction coefficient λ, where the value of the next rock pile distance l' is λ×l. Step 600: Repeat steps 200 to 500, driving the rock pile dump truck to unload rocks in sequence from the previous rock pile point to the current rock pile point and then to the next rock pile point in the order of the rock piles in the rock pile route, until all rock pile operations on the working surface are completed.

[0007] According to an embodiment of the present application, optionally, in step 200, the plurality of rockfill parameters specifically include: the volume V of rocks that can be accommodated in the bucket of the rockfill dump equipment; 车 , the maximum tilting angle θ of the bottom of the bucket of the rock-pile dump equipment relative to the working surface, the width b of the interior of the bucket, and the constraint conditions on both sides of the rock-pile; wherein the constraint conditions refer to whether there are piles of rocks on both sides of the bucket of the rock-pile dump equipment as obstructions during rock-pile operation, including: no constraints on both sides and no constraints on one side.

[0008] According to an embodiment of the present application, optionally, in step 200, the rockfill parameters are substituted into the following fixed-height rockfill formula to determine the rockfill distance l:

[0009] When there are no constraints on both sides:

[0010]

[0011] When one side is unconstrained:

[0012]

[0013] Where,

[0014] β refers to the coefficient other than h and b in the above formula.

[0015] k=V / V 车 , k represents the volume reduction coefficient of the rock pile before and after it is piled into the working surface, wherein V represents the rock pile volume after being piled into the working surface by the unloading method in a single time; the repose angle α is the complementary angle of the maximum overturning angle θ.

[0016] According to an embodiment of the present application, optionally, in step 200, driving the rock-pile dump unloading equipment to the current rock-pile point determined by the rock-pile route to start rock-pile further includes: when the driving direction of the rock-pile dump unloading equipment along the rock-pile route is perpendicular to the center line of the rock-pile dump unloading equipment: the rock-pile distance l is the distance between the current rock-pile point and the edge of the previous rock-pile located on the center line of the rock-pile dump unloading equipment; on the center line perpendicular to the rock-pile dump unloading equipment, the distance between the current rock-pile point and the previous rock-pile point is the translation distance c, and the translation distance c is determined by the following translation distance formula:

[0017] c=b+γb0,

[0018] In the above formula, b0 represents the distance between the farthest rolled stone and the center line of the rock-stack self-unloading device after the stone rolls down perpendicularly to the operating direction of the rock-stack self-unloading device during the rock-stack process minus b / 2, where 0.5<γ<0.8.

[0019] According to an embodiment of the present application, optionally, step 200 further includes determining whether the current rock pile point is the first rock pile point in the working surface. If so, step 401 is executed after step 300: manually controlling the height of the current rock pile to reach the rock pile height parameter h; otherwise, step 300 and step 400 are continued.

[0020] According to an embodiment of the present application, optionally, the specific value range of the correction coefficient λ in step 400 includes: when h'>h, then 1.0<λ<1.2; when h'<h, then λ is 0.8<λ<1.0;

[0021] According to an embodiment of the present application, optionally, the value range of the correction coefficient λ and the rock pile operation mode further include: if the correction coefficient λ is less than 0.8, the stones are transported again for unloading or the current height of the rock pile is manually filled; if the correction coefficient λ is greater than 1.2, the stones that exceed the rock pile height parameter h are removed.

[0022] According to an embodiment of the present application, optionally, step 450 is further included between step 400 and step 500: if the correction coefficient λ is less than 1, the stones are transported again for unloading or the height of the current stone pile is manually filled; if the correction coefficient λ is greater than 1, the stones in the current stone pile that are higher than the stone pile height parameter h are removed.

[0023] According to an embodiment of the present application, optionally, the pre-planning of the rock-filling route according to the shape of the working surface in step 1 includes the following steps: Step 101: Determine the working space: specifically, the following steps: first determine the bottom surface of the working space as the working surface, then determine the axis of the working surface and the inner edge surface and outer edge surface located on the left and right sides of the axis respectively; the inner edge surface and outer edge surface, the end surface, and the top surface and the bottom working surface together enclose a working space, and the rock-filling self-unloading equipment moves in the working space to perform rock-filling operations; wherein, the axis is the center line of the working surface along the length direction; the inner edge surface is the edge surface on the side away from the entrance and exit of the working space; the outer edge surface is the edge surface on the side close to the entrance and exit of the working space; the end surface is the edge surface between the inner edge surface and the outer edge surface away from the entrance and exit; the top surface is the edge surface between the inner edge surface and the outer edge surface close to the entrance and exit; Step 102: Drive the rock-filling self-unloading equipment along the first row of rock-filling routes wherein the first row of rock-filling routes is close to the side where the inner edge surface is located, starts from the side where the inner edge surface is close to the end surface, and ends at a position before the position where the inner edge surface is close to the top surface, and the distance between the previous position and the top surface is not less than the total width of the rock-filling self-unloading device; step 103: driving the rock-filling self-unloading device perpendicular to the starting position of the first row of rock-filling routes, and performing translational rock-filling to complete an intermediate row of rock-filling routes, until the end position of the intermediate row of rock-filling is aligned with the end position of the first row of rock-filling; step 104: repeating step 103 to complete multiple intermediate rock-filling routes, until the distance between the last intermediate row of rock-filling and the side where the outer edge surface is located is within a range of 1 to 2 times the length of the rock-filling self-unloading device; step 105: driving the rock-filling self-unloading device to complete two final row of rock-filling routes, respectively, along a row perpendicular to the inner edge surface close to the top surface and along a row close to the outer edge surface, until the entire working surface is covered with rock.

[0024] According to an embodiment of the present application, optionally, in step 102 to step 105, the rock pile distance l between the current rock pile point and the edge of the previous rock pile located on the center line of the rock pile dump equipment is determined based on the fixed height rock pile formula.

[0025] When there are no constraints on both sides:

[0026]

[0027] When one side is unconstrained:

[0028]

[0029] Where,

[0030] β refers to the coefficient other than h and b in the above formula.

[0031] k=V / V 车 , k represents the volume reduction coefficient of the rocks before and after they are piled into the silo, where V represents the rockfill V 车 The volume of the rockfill after being piled into the bin body by the single unloading method; the repose angle α is the complementary angle of the maximum overturning angle θ.

[0032] According to an embodiment of the present application, optionally, in step 103 and step 104, when the driving direction of the rock-filling self-unloading equipment along the rock-filling route is perpendicular to the center line of the rock-filling self-unloading equipment, the translation distance c between the current rock-filling point and the previous rock-filling point on the center line perpendicular to the rock-filling self-unloading equipment is determined according to the following translation distance formula:

[0033] c=b+γb0,

[0034] In the above formula, b0 represents the width of the stone rolling down from one side of the stone pile to the working surface during the stone pile process, where 0.5<γ<0.8.

[0035] The proposed engineering height determination method allows for dynamic correction of rockfill parameters based on the actual rockfill height. This allows for manual calculations to guide dump equipment in rockfill operations and provides a methodological foundation and logical model support for subsequent automated and intelligent control. This method can improve the control accuracy of rockfill operations, increase equipment utilization, and accelerate the progress of rockfill construction within the work surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Below, the preferred embodiments of the present invention will be further described in detail with reference to the accompanying drawings, in which:

[0037] Figure 1 1 is a flow chart of a method for determining the height of an engineering project according to an embodiment of the present application;

[0038] FIG2( a ) is a schematic diagram of the first row of rockfill routes in an embodiment of the present application;

[0039] FIG2( b ) is a schematic diagram of a middle row of rockfill routes in an embodiment of the present application;

[0040] FIG2( c ) is a schematic diagram of the last row of rockfill routes in an embodiment of the present application;

[0041] Figure 3 This is a schematic diagram of the overall structure of the rock pile self-unloading equipment according to an embodiment of the present application;

[0042] Figure 4 yes Figure 3 A-direction structural diagram;

[0043] Figure 5 This is a structural diagram of the rock dump equipment in an embodiment of the present application in a flipped bucket state;

[0044] Figure 6 This is a structural diagram of the rock-fill self-unloading equipment according to an embodiment of the present application, in which the inner push plate is in translational state;

[0045] Figure 7 This is a side structural diagram of the rock-fill self-unloading equipment according to an embodiment of the present application with the inner push plate in a flipped state;

[0046] Figure 8 This is a schematic diagram of the overall structure of the rock-fill self-unloading equipment according to an embodiment of the present application, with the inner push plate in a flipped state; Figure 9 A schematic structural diagram of a connecting rod working unit of a rockfill self-unloading device according to an embodiment of the present application;

[0047] FIG10( a ) is a schematic diagram of a rockfill shape model when there is no rockfill constraint on one side according to an embodiment of the present application;

[0048] FIG10( b ) is an exploded view of a schematic diagram of a rockfill shape model of an embodiment of the present application when there is no rockfill constraint on one side;

[0049] FIG11( a ) is a schematic diagram of a model of a quadrangular prism rock pile I in an embodiment of the present application when there is no rock pile constraint on one side;

[0050] FIG11( b ) is a schematic diagram of a model of a triangular prism rock pile II when there is no rock pile constraint on one side according to an embodiment of the present application.

[0051] Reference numerals:

[0052] 801. Inner edge surface; 802. Outer edge surface; 803. End surface; 804. Top surface; 805. Working surface; 10. Chassis; 11. Bottom plate; 12. Side wall assembly; 13. Inner push plate; 14. Push assembly; 19. Walking mechanism; 141. First push unit; 142. Second push unit; 143. Third push unit; 121. Inner wall; 122. Outer wall; 50. Discharge guide plate; 80. Side baffle; 91. Track; 92. Track retracting and extending device. DETAILED DESCRIPTION

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0054] In the detailed description that follows, reference may be made to the various drawings that form part of this application and illustrate specific embodiments of the present application. In the drawings, similar reference numerals describe substantially similar components in different figures. Each specific embodiment of the present application is described below in sufficient detail to enable a person of ordinary skill in the art to implement the technical solutions of the present application. It should be understood that other embodiments may be utilized or that structural, logical, or electrical changes may be made to the embodiments of the present application.

[0055] like Figure 1 and combined Figure 2(a)-Figure 2(c) As shown, this application proposes an engineering fixed height rockfill method, including the following steps:

[0056] Step 100: Determine the rockfill height parameter h based on the designed height of the working surface. A rockfill route is pre-planned based on the working surface's shape, and the rockfill unloading equipment is driven to unload the rocks in the order of the rocks along the route to complete the rockfill operation. The working surface can be any gravity-type or counterweight-type rockfill surface suitable for rockfill concrete construction, such as the working surface of a rockfill concrete dam. In some embodiments, the rockfill height parameter h is determined based on the required height of the rockfill paving in the project. Typically, the designed height h of the rockfill paving is already determined in the pre-planned design plan.

[0057] Step 200: Drive the rock-pile dumping equipment to the current rock-pile point and begin rock-pile. When the line connecting the current rock-pile point and the previous rock-pile point coincides with the centerline of the rock-pile dumping equipment, the perpendicular from the current rock-pile point to the edge of the previous rock-pile is the rock-pile distance l. This rock-pile distance l is calculated based on multiple rock-pile parameters, and the positional relationship between the current rock-pile point and the previous rock-pile point conforms to the direction of the rock-pile route. For example, when the rock-pile equipment moves in a straight line along the centerline of the rock-pile dumping equipment according to the rock-pile route, the perpendicular distance from the current rock-pile point to the edge of the previous rock-pile is the rock-pile distance l. This rock-pile is performed at this distance.

[0058] Step 300: Upon reaching the rock pile point, the rock pile dump truck is driven to gradually tilt to a maximum tilt angle θ, unloading all the rock in the truck bucket onto the work surface. The maximum tilt angle θ determines the repose angle α of the rock pile after the rock pile is deposited, which is one of the key parameters for controlling the height of the rock pile.

[0059] In some embodiments, a determination is made as to whether the current rock pile point is the first rock pile point within the working surface. If so, step 401 is executed after step 300: the height of the current rock pile is manually controlled to reach the rock pile height parameter h. Otherwise, step 300 and step 400 are continued. As shown in Figure 2(a), when the rock pile dump truck enters the working surface and begins its first rock pile, the dump truck's first rock pile point is located in the upper right corner of the figure.

[0060] Step 400: Measure the actual height h' of the current rock pile, and determine a correction coefficient λ based on the error between the actual height h' and the rock pile height parameter h; wherein the correction coefficient λ = actual height h' / rock pile height parameter h.

[0061] As shown in Figure 2(a), the rock-pile dump equipment completes the rock-pile one by one along the rock-pile points in the direction of the arrow. The arrow direction is the same as the center line of the rock-pile dump equipment. The distance l between the rock-pile dump equipment and the edge of the previous rock-pile is calculated based on multiple rock-pile parameters.

[0062] Therefore, after the rockfill route is determined, if the volume of rocks loaded on each vehicle is basically the same, the theoretical value of the rockfill distance l can be calculated based on the pre-set rockfill height parameter h, eliminating the need for manual parameter measurement before and after each rockfill, resulting in high accuracy and high stacking efficiency.

[0063] Step 500: To calibrate the theoretical value and ensure increasingly accurate parameters for subsequent rockfill, the next rockfill distance l' is corrected based on the correction coefficient λ. The value of the next rockfill distance l' is λ × l. In some embodiments, the specific value range of the correction coefficient λ includes: when h'>h, then 1.0<λ<1.2; when h'<h, then λ is 0.8<λ<1.0. Generally speaking, when the value of the correction coefficient λ is within this specific range, the actual height of the current rock pile is not significantly different from h, and will not significantly affect the flatness of the warehouse surface. Therefore, there is no need to calibrate the current rock pile height.

[0064] Furthermore, if the correction coefficient λ is less than 0.8, the current rock pile height is much less than h. Failure to complete the adjustment will affect the flatness of the bin surface, requiring additional stone unloading or manual adjustment. If the correction coefficient λ is greater than 1.2, the current stone pile height is much higher than h. Failure to remove the excess stone will also affect the flatness of the bin surface, requiring removal of the stone that exceeds the rock pile height parameter h. Generally speaking, in engineering practice, accurate theoretical parameter values ​​can be obtained after 2-5 calibrations, eliminating the need for subsequent manual measurement of actual heights for calibration.

[0065] Step 600: Repeat steps 200 to 500 to drive the rock pile unloading equipment to unload materials in sequence from the previous rock pile point to the current rock pile point and then to the next rock pile point, until all rock pile operations on the working surface are completed.

[0066] In some embodiments, when high requirements are placed on the flatness of the storage surface, the actual height of each stone pile should be calibrated. Therefore, between steps 400 and 500, step 450 is included: if the correction coefficient λ is less than 1, the stones are unloaded again or manually adjusted to the height of the current stone pile. If the correction coefficient λ is greater than 1, the stones in the current stone pile that exceed the stone pile height parameter h are removed. This ensures that each stone pile meets the h requirement.

[0067] As shown in FIG2( a ), when the driving direction of the rock pile unloading equipment along the rock pile route is parallel to the center line of the rock pile unloading equipment, the rock pile distance l is the distance between the adjacent rock pile point and the edge of the current rock pile.

[0068] In some embodiments, in order to accurately calculate the theoretical value of the rock pile distance l, in step 200, the multiple rock pile parameters specifically include: the rock volume V that can be accommodated in the bucket of the rock pile dump equipment; 车 The rock pile distance l is determined based on the maximum tilting angle θ of the bottom of the rock pile dump truck relative to the working surface, the width b of the interior of the truck truck, and the constraints on both sides of the rock pile. The constraints refer to whether there are existing rock piles on both sides of the rock pile dump truck truck as obstructions during rock pile operation, including the situations of no constraints on both sides and no constraints on one side. The complementary angle of the maximum tilting angle θ is the repose angle α of the rock pile after unloading.

[0069] In some embodiments, as shown in FIG2(a) and FIG2(b), the rock-pile dump unloading equipment can not only complete the rock-pile in a direction parallel to the center line of the rock-pile dump unloading equipment, but also complete the rock-pile in a direction perpendicular to the center line of the rock-pile dump unloading equipment. In step 200, driving the rock-pile dump unloading equipment to the current rock-pile point position determined by the rock-pile route to start rock-pile further includes:

[0070] When the rock-pile dumping machine's driving direction along the rock-pile route is perpendicular to its centerline, the rock-pile distance l is the distance between the edge of the adjacent rock-pile point and the current rock-pile on the centerline of the rock-pile dumping machine. This step is used to determine the starting position of the rock-pile dumping machine when preparing to move the rock-pile. As shown in Figure 2(b), when determining the starting position of the second row, the rock-pile distance l between the first rock-pile point in the second row and the first rock-pile point in the first row must be determined.

[0071] On a centerline perpendicular to the rock-fill dumping device, the translation distance between the next adjacent rock-fill point and the previous adjacent rock-fill point is c. Continuing with FIG2(b), when the rock-fill dumping device determines the second rock-fill point of the second row of rocks in the translation direction, the translation distance between the next adjacent rock-fill point and the previous adjacent rock-fill point is c. In some embodiments, the translation distance c can be determined using the following translation distance formula:

[0072] c=b+γb0,

[0073] In the above formula, b0 represents the distance between the farthest rolled stone and the center line of the rock-stack self-unloading device after the stone rolls down perpendicularly to the operating direction of the rock-stack self-unloading device during the rock-stack process minus b / 2, where 0.5<γ<0.8.

[0074] like Figure 1 As shown in FIG2 , in some embodiments, the step 100 of pre-planning a rockfill route according to the working surface shape includes the following steps:

[0075] Step 101: Determine the working space. This specifically includes: first determining the bottom surface of the working space as the working surface 805, then determining the axis of the working surface 805 and the inner edge surface 801 and outer edge surface 802 located on the left and right sides of the axis, respectively; the inner edge surface 801 and outer edge surface 802, the end surface 803, the top surface 804, and the bottom working surface 805 together form a working space, and the rock-filling self-unloading device moves within the working space to perform rock-filling operations;

[0076] Wherein, the axis is the center line of the working surface along the length direction;

[0077] The inner edge surface 801 is the edge surface away from the entrance and exit of the working space;

[0078] The outer edge surface 802 is the edge surface close to the entrance and exit of the working space;

[0079] Step 102: As shown in FIG2(a), the rockfill dump equipment is driven to move along the first row of rockfill route in the direction of its center line, so that the height of the first row of rockfill is h; wherein, the first row of rockfill route is close to the side of the inner edge surface 801, starts at the side of the inner edge surface 801 close to the end surface 803, that is, the first rockfill point of the first row of rockfill, and ends at the previous position of the inner edge surface 801 close to the top surface 804. This is because when the first row of rockfill is piled, the rockfill dump equipment piles rocks along the dam axis, and is naturally unable to fill the entire inner edge surface 801 due to its own length limitation; in order to leave enough space for the dump truck to drive in and complete the rockfill operation on the entire inner edge surface 801, the distance between the previous position and the top surface is not less than the total width of the rockfill dump equipment;

[0080] Step 103: As shown in FIG2(b), the rock pile unloading device is driven perpendicular to the starting position of the first row of rock pile route, and the rock pile is translated to complete the middle row of rock pile route, until the end position of the middle row of rock pile is aligned with the end position of the first row of rock pile.

[0081] Step 104: The rock-stack dumping equipment repeats step 103 to complete multiple intermediate rock-stack routes until the distance between the last intermediate row of rock and the outer edge surface 802 is within 1 to 2 times the length of the rock-stack dumping equipment. Similarly, due to the length limitations of the rock-stack dumping equipment itself, each intermediate row of rock will not be able to cover the entire length of the working surface in the axial direction. Therefore, after all intermediate rows have completed the rock-stack operation, a gap will remain along the width of the working surface, close to the top surface 804.

[0082] In order to enable the dump truck to fill the last row of rocks close to the outer edge surface 802 along the length direction of the working surface, when the middle row of rocks is piled, the distance between the edge of the rock pile and the outer edge surface 802 is within the range of 1 to 2 times the length of the rock pile dump truck, the middle row of rock pile process is completed.

[0083] Step 105: As shown in Figure 2(c), the rockfill dumping equipment is driven to complete two final rockfill routes, one along a row perpendicular to the inner edge surface 801 and close to the top surface 804, and one along a row close to the outer edge surface 802, until the rockfill covers the entire working surface. The rockfilling method for these two final rockfill routes is the same as that for the first rockfill route in step 102. Because the total width of the remaining rockfill routes varies, parameters such as the rockfill distance l must be recalculated when stacking the last two final rockfill routes, and the theoretical values ​​must be recalibrated according to the method described in step 600.

[0084] The proposed engineering height determination method, through the design of a parametric engineering height determination formula, addresses the shortcomings of existing rockfill technologies in height control and dynamic height calibration. This method ensures that each unloading height reaches the designed value, improving the consistency of rockfill placement. It also reduces intermediate leveling and rework steps, simplifies construction, and reduces reliance on manual experience. Furthermore, it offers intelligent control over the construction process.

[0085] Based on the engineering height determination method of this application, the rockfill route of this application can complete the work surface paving efficiently and orderly. The determination of the rockfill route combines structured route planning, formulaic unloading control, and edge filling strategies. This solves the problems of traditional rockfill operations such as numerous unloading blind spots, uneven pile heights, and high reliance on manual labor. It significantly improves the precision, efficiency, and intelligence level of rockfill operations, and is suitable for promotion in automated / semi-automated engineering machinery operation environments.

[0086] In some embodiments, the rock dump equipment can simply unload the rocks in the bucket onto the working surface.

[0087] In order to better combine the engineering height determination method of the present application to efficiently complete the rockfill operation, the following takes a rockfill self-unloading device as an example to explain in detail how to use the height determination rockfill method of the present application to complete the rockfill operation.

[0088] The following first introduces a rock pile self-unloading equipment.

[0089] like Figure 3-Figure 9As shown, the present application proposes a rock-fill self-unloading device for transporting and unloading rocks in the construction bin of a rock-fill concrete dam to complete the dam body rock-fill. The device comprises a chassis 10 and a truck bed (not shown in the figure) disposed on the chassis 10. To improve the load-bearing capacity and torsional rigidity of the rock-fill self-unloading device, the chassis 10 can generally adopt a frame structure. The frame structure is quick to maintain on site, which can extend the service life of the entire vehicle. Later, reinforcements can be upgraded according to working conditions. The truck bed is a bucket-shaped structure with an open top, used to receive rocks. A traveling mechanism 19 and a power source (not shown in the figure) for driving the traveling mechanism 19 are provided on both sides of the truck bed. The traveling mechanism 19 is used to drive the rock-fill self-unloading device to move back and forth between bins.

[0090] The truck bed includes a bottom plate 11 and sidewall assemblies 12 fixed on both sides of the bottom plate 11. The sidewall assemblies 12 prevent rocks from scattering outside the truck bed. To ensure that all rocks in the truck bed 11 are discharged onto the work surface, an inner push plate 13 is provided inside the truck bed 11. Both sides of the inner push plate 13 are connected to the sidewall assemblies 12 via first thrust assemblies 14. In some embodiments, the inner push plate 13 is arranged parallel to the bottom plate 11 in the truck bed when not in operation.

[0091] like Figure 3-Figure 8 As shown, to avoid being affected by the rock, the main bodies of the first thrust assemblies 14 on either side of the inner thrust plate 13 are accommodated within the accommodation space of the side wall assembly 12, with their free ends connected to the inner thrust plate 13 via inclined guide rails provided on the side wall assembly 12. The accommodation space allows the first thrust assemblies 14 to freely extend and retract, preventing jamming and other interruptions to operation caused by rock jamming against the first thrust assemblies 14.

[0092] In order to be able to flip around the end of the bottom plate 11 and out of the truck bucket 11, thereby unloading all the stones, the end of the inner push plate 13 is flippably connected to the end of the bottom plate 11, and driven by the first pushing assembly 14, the inner push plate 13 can move along the length direction of the bottom plate 11 through the inclined guide rail opened on the side wall assembly 12, and move horizontally relative to the bottom plate 11.

[0093] To enable the bucket to flip around the chassis 10 to unload all the rocks, the bucket is reversibly connected to the chassis 10 via a second jacking assembly 15. The second jacking assembly 15 can lift the center of the bucket and flip it over a certain angle to unload the rocks. The rock dump equipment also includes a central control mechanism (not shown) connected to the power source, the first jacking assembly 14, and the second jacking assembly 15. The central control mechanism outputs control signals to the first jacking assembly 14 to control the translation and flipping movement of the inner push plate 13, outputs control signals to the second jacking assembly 15 to control the flipping movement of the bucket, and outputs control signals to the power source to control the travel movement of the rock dump equipment. In order to smoothly unload all the rocks in the bucket and ensure that the impact force during the unloading process is small and the amount of lost rocks is minimized, during the unloading process of the rock dump equipment, the central control mechanism controls the turning motion and the translation motion in the following order: the bucket first turns relative to the chassis 10, the inner push plate 13 then translates relative to the bottom plate 11, and finally the inner push plate 13 turns relative to the bottom plate 11.

[0094] Specifically, the rock dump equipment of the present application undergoes a first flipping movement, wherein the bucket first flips relative to the chassis 10, causing the rocks loaded in the bucket to roll toward the end of the chassis 10 to within the receiving range of the inner push plate 13; then, through the translational movement of the inner push plate 13, the inner push plate 13 gradually pushes the rocks at the bottom end of the bucket toward the top end of the bucket.

[0095] like Figure 6 As shown, since all the stones have rolled into the receiving range of the inner push plate 13 after the first flipping movement, when the inner push plate 13 moves horizontally away from the chassis 10, no stones will fall between the inner push plate and the chassis. This setting can effectively prevent the inner push plate from being unable to return to its original position.

[0096] Combine Figures 6 to 8 As shown, through the second flipping movement, the inner push plate 13 flips relative to the bottom plate 10 until all the stones are piled onto the working surface, completing the unloading.

[0097] The rockfill self-unloading equipment of the present application can smoothly unload the rocks in the bucket onto the construction work surface by combining two flipping movements and one translation movement, which can effectively reduce the proportion of rockfill crushing and improve the structural strength and stability of the rockfill concrete dam.

[0098] Continue as Figure 3-Figure 8As shown, the bucket is hinged on the chassis 10 and can be flipped within a first flip angle range. The first flip angle is the angle between the plane of the bucket and the plane of the chassis 10. Within the range of angle not greater than 80 degrees, it is ensured that some stones near the end of the bucket 11 are unloaded first, and the remaining stones gradually slide into the receiving range of the inner push plate 13. The advantage of this design is that it will not cause all the stones to be dumped out at once due to the bucket flip angle being too large, and hit the working surface with a large impact force; nor will it cause the stones to fail to completely slide into the receiving range of the inner push plate 13 due to the bucket flip angle being too small, so that when the inner push plate starts to unload, some of the stones fall between the inner push plate 13 and the bucket, causing the inner push plate to be stuck by the stones when it is put back to the bottom of the bucket and unable to return to its position, and unable to unload all the stones in the bucket. The inner push plate 13 is hinged on the bottom plate 11 and can be flipped within a second flip angle range. The second flip angle is the angle between the plane where the inner push plate 13 is located and the plane where the chassis is located, and the size of the included angle is within the range of 80°-150°. That is, when the first flipping movement is completed, the bucket is at an acute angle of no more than 80° relative to the working surface; then, when the inner push plate 13 moves horizontally, the angle of the bucket relative to the working surface remains unchanged. At this time, the angle of the inner push plate 13 relative to the working surface is the same as the angle of the bucket relative to the working surface, and is also within the angle range of no more than 80°; finally, after the inner push plate 13 continues to complete the second flipping movement, the inner push plate 13 is at an obtuse angle of no more than 150° relative to the working surface, so as to ensure that all the stones are discharged and the already piled stones are not excessively squeezed due to the excessive flip angle of the inner push plate 13.

[0099] In some embodiments, the rock dump equipment requires a construction unloading truck to enter and unload the rock. To further ensure that after the bucket is turned over, the undischarged rocks in the bucket gradually slide into the receiving area of ​​the inner push plate 13, the bucket volume corresponding to the inner push plate 13 is 1.0 to 1.5 times the volume of the construction unloading truck bucket. The width of the inner push plate 13 is adapted to the area on the bottom plate 11 that can receive rocks.

[0100] In some embodiments, the translational movement can partially overlap with the first flipping movement. That is, when the bucket tilts to a certain angle, the inner push plate 13 simultaneously begins translational movement. Specifically, during the unloading process of the rock dump dump equipment, the bucket first flips relative to the chassis 10 to a first predetermined angle. As the first flipping angle increases, as the rocks continue to roll toward the end of the chassis 10, the inner push plate 13 begins translational movement relative to the base plate 11, while the bucket continues flipping relative to the chassis 10 until it reaches the maximum first flipping angle. The inner push plate 13 ultimately flips relative to the base plate 11 to a second predetermined angle. Both the first and second flipping angles have predetermined angles, with the first predetermined angle being within the first flipping angle range and the second predetermined angle being within the second flipping angle range. In some embodiments, the second predetermined angle is within a range of 120°-150°. The second predetermined angle is greater than 120° to ensure that the inner push plate 13 can completely flip out of the bucket and unload all the rocks. The upper limit of the second predetermined angle depends on the working conditions. The repose angle of the rock pile dump equipment after rock pile can be calculated according to the expected rock pile height. The repose angle and the second predetermined angle are complementary angles.

[0101] The benefit of this design is that the impact force on the rock during unloading is gradually released. By discharging the rock in stages, while the total impact energy remains constant, the peak impact force is dispersed, significantly reducing the risk of damage to the equipment and rock from instantaneous impact. This effectively addresses the technical issue of increased rock drop caused by excessive unloading shock during concentrated rock fall. Specifically, when the bucket tilts to the first predetermined angle, gravity assists the rock's sliding, reducing pushing resistance. As the bucket continues to move toward its maximum tilt angle, the translational motion of the inner push plate helps the rock fall more evenly onto the work surface, avoiding concentrated rock fall and the sudden collapse and impact caused by "jamming" during unloading by traditional unloading equipment. Finally, when the remaining rock is discharged further with the second tilt of the inner push plate, the plate has been significantly tilted, further reducing the rock's sliding height and speed, and the impact force, ensuring a smoother and more efficient unloading process.

[0102] Continue as Figure 3-Figure 8As shown, the first pushing assembly 14 includes a first pushing unit 141 and a second pushing unit 142, and the second pushing assembly 15 includes a third pushing unit 151. The internal structures of the above three pushing units can be exactly the same or their internal components can be adaptively increased or decreased according to actual use needs; the side wall assembly 12 includes an inner wall 121 and an outer wall 122 arranged parallel to each other and spaced apart, with an accommodating space (not shown in the figure) left between the two. Most of the main structure connected to the fixed ends of the first pushing unit 141 and the second pushing unit 142 is placed in the accommodating space. Specifically, the movable end of the first pushing unit 141 is connected to the middle of the inner pushing plate 13 and can be movably set in a first guide rail (not shown in the figure) opened in the middle of the inner wall; the movable end of the second pushing unit 142 is connected to the end of the inner pushing plate and can be movably set in a second guide rail opened at the end of the inner wall. The accommodation space isolates the main structures of the first and second pushing units 141, 142 from the rocks in the truck bed, effectively protecting the main structures of the pushing units from impact by the rocks and preventing them from being affected by the rocks and preventing them from being unable to smoothly extend or retract. In some embodiments, the fixed ends of each pushing unit are hingedly connected to the connecting member.

[0103] Continue as Figure 3-Figure 8 As shown, the third pushing unit 151 is the component that propels the entire bucket to tilt, rather than the inner push plate. Its main structure is not located within the accommodation space. The third pushing unit 151's two ends are connected to the chassis 10 and the outer wall 121, respectively, and are located on either side of the bucket's exterior. When the third pushing unit 151 is in operation, the free end extends to cause the bucket to tilt.

[0104] The two thrust assemblies described above are used to provide power to tilt or translate the bucket and inner push plate 13. In some embodiments, a hydraulic working unit or a connecting rod working unit is selected as the thrust assemblies. As two typical forms of power transmission in mechanical systems, both can achieve drive and motion control of bucket tilting and inner push plate translation and flipping through specific energy conversion mechanisms.

[0105] In some embodiments, the hydraulic working unit (not shown in the figure) includes: a fixedly installed cylinder body and an axially slidable piston rod; the cylinder body is a fixed end, fixed in the chassis or the accommodating space, and the end of the piston rod is a movable end; the movable end of the piston rod performs pushing and pulling actions; the cylinder body is connected to the hydraulic power module and the control system, for controlling and driving the movement of the piston rod; wherein, the hydraulic power module is driven by a servo motor to drive the hydraulic pump and is connected to the oil inlet of the cylinder body through a high-pressure pipeline. The control system includes a proportional valve arranged on the high-pressure pipeline, a sensor for detecting the pipeline pressure, and a PID controller for adjusting the opening of the proportional valve in real time according to the pressure signal.

[0106] Normally, the core of the hydraulic working unit is composed of a cylinder body, a piston rod, a hydraulic power module and a control system, which will not be described in detail here. The fixedly installed cylinder body serves as the basic support of the actuator and is fixed to the chassis 10 or the accommodation space by bolts to form a stable force reference point; the axially slidable piston rod serves as the power output end, and its end is connected to the driven component, such as the bucket or the inner push plate 13, through a mechanical interface, and the push-pull action is realized through telescopic movement. In some embodiments, the hydraulic power module is composed of a servo motor driving a hydraulic pump. The servo motor converts electrical energy into mechanical energy, driving the hydraulic pump (such as a gear pump or a plunger pump) to suck in and pressurize the hydraulic oil from the oil tank, and the high-pressure oil is transported to the oil inlet of the cylinder body through a steel pipe or a high-strength hose. The proportional valve installed in the oil circuit serves as the core control element. It accurately controls the flow and pressure transmission direction by adjusting the valve core opening, and the pressure sensors arranged at the key nodes of the pipeline collect pressure signals in real time and feed them back to the PID controller. The PID controller dynamically adjusts the proportional valve opening with a millisecond response speed through a closed-loop algorithm (proportional-integral-differential regulation). For example, when a sudden load change causes the pressure fluctuation to exceed the set threshold, the valve opening compensation adjustment can be completed quickly. During operation, the servo motor starts and drives the hydraulic pump to establish system pressure. The high-pressure oil is distributed into the cylinder through the proportional valve, pushing the piston rod to generate thrust. At the same time, the sensor continuously monitors the pressure changes, and the control system maintains the pressure stable within the error range through PID calculation. After the action is completed, the oil returns to the oil tank through the reversing valve, forming a complete pressure-execution-feedback control closed loop. In this application, the hydraulic working unit combines the high rigidity of the mechanical transmission with the high power density characteristics of the hydraulic system, which can effectively ensure the force control precision of the rock pile dump unloading equipment.

[0107] The power module in an industrial hydraulic work unit traditionally relies on a motor-driven hydraulic pump to provide the pressure oil source. Common solutions include using an asynchronous AC motor (fixed speed) to drive a constant displacement pump, and the more recently popular servo / variable frequency motor (variable speed) to drive a hydraulic pump. Hydraulic pumps can be further categorized as constant displacement (fixed displacement) and variable displacement. Both can be combined with different motor drives to create a variety of drive methods.

[0108] like Figure 9 and combined Figure 3-Figure 8As shown, in some embodiments, a connecting rod working unit can be used instead of the above-mentioned hydraulic working unit. The connecting rod working unit includes a hinged four-bar structure, further including: an active connecting rod AB, whose head end is fixed to the chassis 10 or the accommodating space through a first rotating pair 91; a driven connecting rod BC, whose head end is hinged to the end of the active connecting rod AB through a second rotating pair 92; an output connecting rod CD, whose head end is hinged to the end of the driven connecting rod BC through a third rotating pair 93, and whose end is fixed to the chassis 10 or the accommodating space through a fourth rotating pair 94; wherein, the axial distance between the first rotating pair 91 and the fourth rotating pair 94 constitutes a fixed rod AD. In this application, the fixed rod AD is the part between the first rotating pair 91 and the fourth rotating pair 94 on the bottom plane of the chassis 10 or the accommodating space. The active connecting rod AB, the driven connecting rod BC and the output connecting rod CD constitute three moving rods, and the axes of the four groups of rotating pairs 91-94 are arranged parallel to each other; the head end of the output connecting rod CD is the moving end of the hinged four-bar structure, which is connected to the outer wall 121 or the middle part of the inner push plate 13 or the end of the inner push plate 13.

[0109] like Figure 9 As shown, when a power source (such as a motor) drives the active link AB to rotate about fixed point A in the direction indicated by the arrow in the figure, point B drives the driven link BC to produce planar motion, forcing point C to swing along a specific trajectory. Because one end of the output link CD is hinged to fixed point D, the motion of the other end, point C, is constrained to be the synthesis of the circular arc trajectory around point D and the motion of the driven link BC, ultimately forming a predictable mechanical output path. For example, when the active link AB rotates clockwise, point C will push the connected inner push plate 13 or the bucket outward; when it rotates counterclockwise, it will drive the inner push plate 13 or the bucket back. Its range of motion is determined by the ratio of the lengths of the various rods and can be adjusted according to specific working conditions.

[0110] In some embodiments, the four revolute pairs described above can utilize low-friction bearings (friction coefficient ≤ 0.002) to ensure mechanical efficiency, while the parallel shaft design eliminates the risk of spatial interference. This structure, by varying the rotation angle of the active connecting rod, allows the output end, point C, to follow a specific trajectory. This structure is particularly well-suited for directional push-pull motions, such as those required in the rock-fill dumping equipment described herein. It offers the advantages of a compact structure, highly deterministic motion trajectory, and low maintenance costs.

[0111] Continue as Figure 3-Figure 8As shown, the front end of the base plate 11 is an open feed end 111, and the end is a discharge end 112. The bottom of the discharge end 112 can be flipped and connected to the chassis 10; the discharge end 112 is fixedly connected to the discharge guide plate 50. The discharge guide plate 50 and the plane of the base plate 11 are arranged at a first obtuse angle, and the angle of the first obtuse angle can be adjusted according to actual working conditions. When the inner push plate 13 is driven by the first push unit 141 and the second push unit 142 to move translationally along the inclined guide rail provided on the inner wall 121 of the side wall assembly 12, the end of the inner push plate 13 can be supported on the discharge guide plate 50. Under the support effect, the translational movement of the inner push plate 13 can be more stable. In some embodiments, the end of the side wall assembly 12 is fixedly connected to the unloading guide plate 50, and the second guide rail is opened parallel to the unloading guide plate 50; when the inner push plate 13 moves translationally relative to the bottom plate 11, the end of the inner push plate 13 moves translationally under the support of the unloading guide plate.

[0112] Continue as Figure 3-Figure 8 As shown, to prevent rocks from rolling onto the sides of the rock dump equipment, two side wing guards 80 are symmetrically positioned on the outer side of the connection between the end of the truck bed and the chassis. One side edge of each side wing guard 80 can be folded and connected to the outer wall 122 of the side wall assembly 12. As shown in Figure 2, the lower end of each side wing guard 80 is close to the end of the chassis 10; the height of each side wing guard 80 is adapted to the height of the truck bed.

[0113] Continue as Figure 3-Figure 8 As shown, in order to achieve a better shielding effect, the front surface of the side baffle 80 where it meets the rock pile is inclined, as shown in FIG. Figure 6 As shown, when the inner push plate is at the second predetermined angular position and the side wing baffles 80 are open, the front surfaces of the side wing baffles 80 are parallel to the inner push plate 13. In some embodiments, a fourth pushing unit (not shown) is further included to open the side wing baffles 80. The movable end of the fourth pushing unit is fixedly connected to the side wing baffles 80, and the fixed end is fixed to the chassis 10. When the side wing baffles 80 need to be opened, the fourth pushing unit is controlled to operate and open them from the sides of the truck bed to block rocks that may roll down from both sides of the rock pile during the rock pile operation.

[0114] In some embodiments, the power source (not shown) includes an electric drive system, an internal combustion engine hydraulic system, or a hybrid system, used to drive the rock-fill dump equipment across the work surface. The specific drive method depends on the working conditions. The walking mechanism 19 includes two symmetrically arranged track assemblies, including two tracks 91 and a track retraction and extension device 92. The track retraction and extension device 192 is used to lift the tracks off the ground or return them to their original position to drive the rock-fill dump equipment.

[0115] In some embodiments, the crawler retracting and extending device 92 includes: dual lifting mechanisms (not shown) symmetrically disposed on the outside of the sidewall 121. Each lifting mechanism includes: a lifting arm hinged to the sidewall via a first pivot and hinged to the crawler via a second pivot; a drive cylinder comprising a cylinder body and a piston rod, the movable end of the piston rod hinged to the lifting arm via a third pivot. When the driving cylinder is extended, it pushes the lifting arm downward to lower the crawler to the ground; when it is retracted, it pulls the lifting arm upward to lift the crawler off the ground.

[0116] After the rock-fill dump unloading equipment completes unloading, the central control mechanism controls the turning motion and the translation motion to retract the inner push plate 13 and the bucket in the following order: the bucket first turns relative to the chassis 10; the inner push plate 13 then translates relative to the bottom plate 11; and finally the inner push plate 13 turns relative to the bottom plate 11; alternatively, after the rock-fill dump unloading equipment completes unloading, the central control mechanism controls the turning motion and the translation motion to be performed synchronously.

[0117] In some embodiments, unloading rockfill in a rockfill concrete dam working surface using the rockfill self-unloading equipment of the present application includes the following steps:

[0118] Step B1: driving the rock-fill self-unloading equipment to a position of a unloading point where rocks need to be piled in the rock-fill bin;

[0119] Step B2: using a rock dump dump device to dump the rocks in the truck bed into the rock dump bin;

[0120] Step B3: Determine whether the rock pile height in the rock pile bin reaches the desired rock pile height. If so, end the rock pile. If not, repeat steps A1 to A6 until the desired rock pile height is reached.

[0121] In some embodiments, the required height of the rock pile is calculated based on a theoretical value according to a fixed-height rock pile formula applicable to a rock pile dump truck, and the theoretical value is continuously revised based on actual measured values ​​in the project.

[0122] The engineering fixed height rockfill method includes the following steps:

[0123] Step 100: Determine the rock pile height parameter h according to the designed height of the working surface, and the rock volume V contained in the bucket of the rock pile dump equipment. 车 , a second predetermined angle θ of the inner push plate relative to the bottom plate, a width b of the inner push plate, and constraints on both sides of the inner push plate, to determine the rock pile distance l;

[0124] Step 200: Use any of the above unloading methods to pile the stones in the bucket onto the working surface;

[0125] Stone pile distance l: refers to the horizontal distance between the end of the truck bed and the edge of the previous stone pile;

[0126] Constraint situation: refers to whether there are piles of rocks on both sides of the rock dump truck as a barrier, including no constraints on both sides and no constraints on one side;

[0127] The complementary angle of the second predetermined angle θ is the repose angle α of the rock pile after unloading.

[0128] In some embodiments, the rockpile distance l is determined in step 100 by the following fixed-height rockpile formula:

[0129] When there are no constraints on both sides:

[0130]

[0131] When one side is unconstrained:

[0132]

[0133] In the formula, β refers to the coefficient other than h and b in the above formula. k=V / V 车 , represents the volume reduction coefficient of the rocks before and after they are piled into the silo, where V represents the rockfill V 车 The volume of rockfill after being piled into the bin body through the single unloading method.

[0134] In some embodiments, step 50 is further included before step 100: driving the rock pile unloading equipment to move to the first rock pile point in the bin and unloading to form a first rock pile, measuring the height h1 of the first rock pile, and if h1 < h, transporting rocks again for unloading or manually filling the height of the first rock pile.

[0135] Step 300 is also included after step 200: measuring the actual height h' of the rock pile after each unloading, and determining a correction coefficient λ based on the difference between h' and h to continuously adjust the rock pile distance l; wherein, when h'>h, 1.0<λ<1.2; when h'<h, λ is 0.8<λ<1.0

[0136] During the unloading process, the route of the rock-pile dumping equipment includes not only moving along the axis to pile rocks, but also translating the rocks. The specific rock-pile route should be selected based on the actual project conditions. When performing translating the rocks, step 100 also includes: when the rock-pile dumping equipment needs to continuously translate to unload, the translation distance c of the rock-pile dumping equipment between two consecutive unloading times is determined using the following translation distance formula:

[0137] c=b+γb0,

[0138] In the above formula, b0 represents the distance between the farthest-rolled stone and the center line of the rock-stack self-unloading device after the stone rolls down perpendicularly to the operating direction of the rock-stack self-unloading device during the rock-stack process minus b / 2, where 0.5<γ<0.8.

[0139] In some embodiments, the capacity of the truck bed, the length of the inner push plate 13, the width of the side baffle 80, the width of the front surface of the side baffle 80, etc. are all related to factors such as the required height of the stone pile during unloading and the angle of repose of the stone pile during stone piling. The following is a specific description of the dimensions of the above structure based on engineering practice: the stone dump truck must first be driven into the truck bed for unloading. The truck bed volume corresponding to the inner push plate 13 is 1.0 to 1.5 times the volume of the truck bed of the engineering unloading truck. The width of the inner push plate 13 is adapted to the area on the bottom plate 11 that can accommodate stone materials. The sum of the width of the side baffle 80 and the thickness of the adjacent storage space is greater than or equal to the width of the inner push plate 13.

[0140] In some embodiments, the rock dump unloading equipment of the present application must first be docked with a loading vehicle for loading before unloading. The loading process includes the following steps:

[0141] Step A1: driving the empty rockfill self-unloading equipment to a preset loading point;

[0142] Step A2: driving the crawler belt retracting and extending device to lift the crawler belt off the ground;

[0143] Step A3: An external loading truck transports the stones to the loading point, and at least part of the loading truck drives from the feeding end of the rock dump equipment into the truck bucket for stable unloading. The loading truck unloads the stones into the truck bucket and then drives out.

[0144] The following is a detailed description of how the rock-pile dumping equipment of the present application performs fixed-height rock-pile in engineering using a specific example, wherein the fixed-height rock-pile formula is derived based on a combination of theoretical models and known data.

[0145] 1. Regarding the order of stone stacking

[0146] 1.1 The first car stone pile

[0147] When the first car is stacking stones, the stones are placed in the stone pile unloading equipment and moved to the first car stone pile in the warehouse, and the stones can be directly stacked; the actual height h1 of the first stone pile is measured. If h1 < h, the stones are transported again for unloading or the height of the current stone pile is manually filled.

[0148] 1.2 The rock pile behind the first car

[0149] There are two types of rock stacking directions for the rock stacking dump equipment after the first rock stacking vehicle:

[0150] ① The rock-filling self-unloading equipment continuously piles rocks along the axis direction;

[0151] ② The rock-pile dumping equipment continuously moves horizontally to continuously pile rocks.

[0152] 1.3 Start rockfilling using the fixed height rockfill method

[0153] ① Pile the rocks on the rock dump equipment and calculate the rock dump volume V in the rock dump equipment. 车 ;

[0154] ②According to V 车 Calculate the accumulated volume V of the rocks on this vehicle after they enter the warehouse;

[0155] ③ According to the formula for determining the height of the rock pile for the project, determine the distance l between the rock pile of the current vehicle and the rock pile of the preceding vehicle that has been put into the warehouse based on the rock pile height h required for the project;

[0156] ④ Move the rock pile self-unloading equipment to the rock pile distance l, start flipping the equipment to unload, and record the final flip angle θ of the inner push plate relative to the bottom plate after the rock pile is completed. The complementary angle of θ is the repose angle α of the rock pile after unloading; ⑤ After the rock pile is completed, move the rock pile self-unloading equipment backward.

[0157] 1.4 Correction of actual rockfill height

[0158] After calculating the rockfill distance l, rockfill is carried out. However, the theoretical rockfill height h may deviate to some extent from the actual height h'. Therefore, a correction factor λ is introduced to adjust the rockfill distance l to meet the required rockfill height h, where 0.8 < λ < 1.2. If the correction factor λ is less than 0.8, the rock is transported again for unloading or manually increased to the current rockfill height. If the correction factor λ is greater than 1.2, the rock that exceeds the rockfill height parameter h is removed.

[0159] 2. Derivation of the formula for fixed-height rockfill

[0160] 1.1 Rockfill effect estimation model

[0161] The shapes of the rockfill accumulated on the working surface after being flipped over by the rockfill dump equipment are roughly pyramidal (unconstrained on both sides) or pyramidal with a missing edge (unconstrained on one side). As shown in Figure 10(a), the physical model in the figure shows the shape of the rockfill accumulated when only one side is unconstrained, which clearly shows a pyramidal shape with a missing edge.

[0162] As shown in Figure 10(b), the missing-edge pyramidal shape is simplified and divided into four-prism rock pile I and three-prism rock pile II. The inclination angle α shown in Figure 10(b) is the repose angle, and the theoretical value is the complementary angle of the final flip angle θ.

[0163] In rockfill operations, the angle of repose α (also known as the angle of repose) refers to the stable slope angle that naturally forms when a truckload of rocks is tilted onto the work surface. Think of it as the rockfill's "critical slope"—if the slope were any steeper, the rocks would slide down, and only stabilize when the slope returns to this angle. The angle of repose α is formed by the combined forces of gravity and friction: gravity forces the rocks to slide downward, while friction between the rocks prevents them from sliding. When these two forces reach equilibrium, the rocks cease sliding, and the slope angle at this point is known as the angle of repose.

[0164] Therefore, the angle of repose α in this application is the inclination angle of the rock pile after unloading, which is obtained according to the physical laws based on the properties of the rocks and is an important theoretical parameter for calculating the height of the rock pile.

[0165] Continuing with Figures 10(a) and 10(b), rockfill I is defined as a fixed quadrangular prism V1; rockfill II is defined as a shape V0 that changes with the angle of repose, and the volume of the rockfill on this vehicle is V.

[0166] When there are no constraints on both sides of the stack, V = V1 + 2V0; when there is a constraint on only one side, V = V1 + V0.

[0167] As described above, based on the theoretical model, the proposed shape of the rockfill after entering the warehouse is a prism. l is the distance between the rockfill dump equipment and the previous rockfill truck, B is the total width of the rockfill after entering the working surface, h is the theoretical value of the rockfill height required by the project, and α is the angle of repose of the rockfill. In some embodiments, the value of α ranges from 35° to 55°.

[0168] According to actual measurements, the void ratios of the rockfill body in the rockfill dump equipment (referred to as rockfill body A) and the rockfill body after a single rockfill loading (referred to as rockfill body B) are 50% and 45%, respectively. The corresponding rockfill stacking ratios are 50% and 55%, respectively.

[0169] Therefore, when the accumulation volume is 10m 3 When the absolute volumes of rockfill bodies A and B are 50%×10m 3 =5m 3 and 55% × 10m 3 =5.5m.

[0170] Assuming that the absolute volumes of rockfill bodies A and B remain unchanged and specifying a reduction factor k, the relationship between the accumulation volumes of rockfill bodies A and B is defined as:

[0171] k·V 车 =V

[0172] In the above formula:

[0173] V车 ——the accumulation volume of rockfill body A;

[0174] V——the accumulation volume of rockfill body B;

[0175] k——reduction coefficient, 0.82<k<0.95.

[0176] 1.2 Determine the formula for fixed height rockfill based on constraints

[0177] As shown in Figure 11(a) and Figure 11(b), the width of the quadrangular prism rock pile I is b, which is equal to the width of the inner push plate, and the width of the triangular prism rock pile II is b0, which corresponds to the width of the rock pile sliding to one side.

[0178] When there are no constraints on both sides, the rock pile rolls to both sides, B = b + 2b0. When there is a constraint on one side and no constraint on the other side, the rock pile rolls only to one side, B = b + b0.

[0179] 1.2.1 When there is no restraint on both sides:

[0180] B=b+2b0

[0181] Where B and b are related to the width of the truck bed. Theoretically, when the rock pile does not roll off, b is the width of the inner push plate in the truck bed. Comparing rock pile I with rock pile II, we can obtain:

[0182]

[0183] Further conversion yields:

[0184]

[0185] Considering all parameters except h and b as a whole (where b is a fixed value), defined as β, we have:

[0186]

[0187] The value range of β is 0.52<β<2.17.

[0188] Let b be the unit length, we can get:

[0189] V0=βhV1

[0190] Substituting in, we can get the volume of rockfill body B as:

[0191] V=V1+2V0

[0192] =lbh+2×βh×lh

[0193] Rewrite the above formula:

[0194] 2βl×h 2 +lb×hV=0

[0195] It can be seen that when b (the width of the inner push plate of the rock pile bucket), β (a coefficient with a certain value range), and V (a determinable accumulation volume) are fixed values, controlling l (the rock pile distance) can achieve control of h (the rock pile height).

[0196] 1.2.1 When one side is free of restraint:

[0197] B=b+b0

[0198] The volume of rockfill body B is:

[0199] V=V1+V0

[0200] =lbh+β×l×h 2

[0201] Rewrite the above formula:

[0202] βl×h 2 +lb×hV=0

[0203] 1.2.3 The final formula for estimating the rockfill effect is:

[0204]

[0205] Find the real solution for h:

[0206]

[0207] k·V 车 Substituting the formula of =V into the above formula, we can get the final control formula:

[0208]

[0209] Where:

[0210] l—rock pile distance, m;

[0211] b—width of the inner push plate of the bucket for holding rock piles, m;

[0212] h—the required rockfill height of the project, m;

[0213] V—the accumulated volume of the rock pile after storage, m 3 ;

[0214] β—reduction coefficient.

[0215] The correction coefficient λ is determined based on the difference. When the actual rockfill h'>h, λ is set to 1.0<λ<1.2; when the actual rockfill h'<h, λ is set to 0.8<λ<1.0.

[0216] The following is a specific calculation example using the above-mentioned fixed-height rockfill formula and rockfill method to illustrate the specific process of fixed-height rockfill.

[0217] The current regulation stipulates that the rock pile volume in the rock pile dump equipment is V 车 =14m 3 , take k = 0.86, the rock pile distance is 1.2m, the width of the truck bed containing the rock pile is b, which is 3m, and the equipment flip angle, that is, the second predetermined angle of the inner push plate, is 135°.

[0218] It is known that the turning angle of the rock pile dump equipment is 135°, so the repose angle α of the rock pile after being piled into the working surface is 180° - 135° = 45°, and the reduction coefficient β is 1. Substitute it into the final formula for determining the height of the rock pile:

[0219]

[0220] The heights of h are obtained as 1.61 m (no constraints on both sides) and 2.01 m (no constraints on one side).

[0221] In summary, the fixed-height rockfill method of this application allows for dynamic correction of rockfill parameters based on the actual rockfill height. This allows manual calculations to guide rockfill dump equipment in rockfill operations and provides a methodological foundation and logical model support for subsequent intelligent and automated integrated control. This method can improve the control accuracy of rockfill operations, increase equipment utilization, accelerate rockfill construction progress within the work surface, and ultimately enhance rockfill quality and reduce construction costs.

[0222] The bucket of the rock dumper in this application initially flips within a first tilt angle, allowing the rocks to slowly slide down solely by gravity. The inner push plate then translates along the bottom plate, pushing the rocks out of the working surface. The rocks are then flipped out of the bucket within a second tilt angle, achieving a "push-and-pull" combined unloading process. This combination of two flips and one translation significantly reduces the drop height and impact velocity of the rocks, reducing the generation rate of undersized rocks by approximately 35%-50% compared to traditional dumping and excavation loading systems. This eliminates subsequent processes such as slag cleaning and backscreening, directly saving material and labor costs.

[0223] Moreover, when the whole machine is moving on the silo surface, the equipment is basically in an unloaded state, and the track ground pressure ratio is much lower than the dump truck tire pressure ratio and crawler excavator track pressure ratio, which can greatly reduce the crushing and damage to the surface of the upper silo, and ensure that the roughness and rock pile exposure between the two casting surfaces are qualified.

[0224] In addition, the whole machine adopts a frame chassis and electric drive / hybrid hydraulic system, and its deadweight is only about 60% of the dump truck with the same rock load, which reduces the daily maintenance and fuel (electricity) costs. The use of the rock dump truck in this application can eliminate the need for excavator rental and driver, which is more economical than the "dump + excavator" solution (6-7 yuan / m 3)Save more than 50%.

[0225] Finally, the crawler track retraction device can be raised and lowered freely. When changing the unloading point, the crawler track can be retracted and extended to accurately move to the unloading point. In addition, after completing the rock pile in the current bin, the crawler track can be retracted and extended to allow it to move safely on narrow dam steps or steep slopes, quickly and flexibly moving to the next bin, reducing interference with subsequent construction.

[0226] Compared with the tower crane solution, there is no need to set up a fixed tower body and track, the equipment transfer time is less than 30 minutes, and it can climb step by step as the casting surface is improved. The overall operating efficiency is 1.8-2.3 times that of the tower crane-manual stone paving method.

[0227] In summary, the fixed-height rockfill method of the present application can significantly improve the accuracy of height control and construction efficiency, and improve the simplicity and intelligence level of construction.

[0228] During the rockfill process, the accuracy of rockfill height control is significantly improved: The theoretical value for each truck's unloading position is calculated using the engineering-based rockfill height formula. This ensures that the top height of each rockfill pile after unloading is close to the designed value h, reducing human estimation errors and repeated leveling. A real-time λ coefficient is added for correction, allowing the next position to be adjusted promptly based on the measured height difference from the previous unloading, creating a closed-loop control system. This efficiency in controlling rockfill height is unattainable by traditional manual methods, ensuring strict adherence to the designed height and ensuring project quality.

[0229] 2. Significantly Improved Construction Efficiency and Machine Utilization: The project-height determination method simplifies the process of "moving individual rocks to the specified height" to directly and precisely stacking them to the specified height. After each unloading, only a small amount of individual rocks need to be moved to reach the designed height. This reduces the workload of moving rocks and removing slag, saving machine time and fuel. More importantly, construction workers can unload continuously according to the algorithm-generated route without frequent stops for measurements or waiting for instructions. This improves the utilization of each piece of equipment and accelerates overall progress.

[0230] 3. Standardized construction process, low reliance on manual labor: Guided by the height-fixing method, operators simply unload materials at the locations and angles determined by the method, eliminating the need to rely on personal experience to determine the height of the rock pile. This standardized process reduces the need for highly skilled surveyors and experienced drivers, making construction easier to manage. This method also helps prevent human errors in complex environments or during nighttime construction, ensuring consistent paving quality.

[0231] When using the engineering height determination method of this application for rockfill, the determination of the rockfill route fully considers the turning radius of the dump equipment and the problem of dead angles in the rockfill. A safe space related to the "total width of the equipment" is left in the first and last rows to facilitate vehicle turning and reversing, and to eliminate dead angles. This solves the problem of "inconvenience of leaning to the edge and inability to pile to the edge" in the traditional "straight line backward push" rockfill route. The last two rockfill routes require recalculation of the rockfill spacing l and recalibration of the theoretical height determination value. This ensures that even if errors occur during actual paving, they can be dynamically corrected to achieve end point closure, avoiding additional rework due to unclosed rockfill and rockfill depressions in the final stage of construction.

[0232] In the process of fixed-height rock piling, combined with the rock piling self-unloading equipment of this application, a new "low-impact, low-cost, high-efficiency, and high-quality" rock piling and paving process can be achieved without introducing expensive lifting equipment such as tower cranes. This overcomes the technical contradiction between the efficiency, quality, and cost that are difficult to balance in the two existing mainstream solutions, and has significant industrial application value.

[0233] The above embodiments are only used to illustrate the present invention, and are not intended to limit the present invention. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the scope of the present invention. Therefore, all equivalent technical solutions should also fall within the scope of the present invention.

Claims

1. A method for fixed-height rockfill for an engineering structure constructed with rockfill concrete, characterized in that: The steps include: Step 100: determining a rockfill height parameter h in the rockfill parameters according to a designed height of the working surface; A rock-filling route is pre-planned according to the shape of the working surface, and the rock-filling self-unloading equipment is driven to unload the rocks in the order of the rocks in the rock-filling route to complete the rock-filling operation; Step 200: Drive the rock pile dump device to the current rock pile point and begin rock piling. When the line connecting the current rock pile point and the previous rock pile point coincides with the center line of the rock pile dump device, the perpendicular line from the current rock pile point to the edge of the previous rock pile is the rock pile distance l. The rock pile distance l is calculated based on multiple rock pile parameters, and the positional relationship between the current rock pile point and the previous rock pile point conforms to the direction setting of the rock pile route. Step 300: driving the bucket of the rock dump equipment to gradually flip to a maximum flip angle θ, and unloading all the rocks in the bucket onto the working surface; Step 400: measuring the actual height h' of the current rock pile, and determining a correction coefficient λ according to an error between the actual height h' and the rock pile height parameter h; Wherein, correction coefficient λ = actual height h' / rockfill height parameter h; Step 500: Correcting the next rockfill distance l' according to the correction coefficient λ, wherein the next rockfill distance l' is λ×l; Step 600: Repeat steps 200 to 500 to drive the rock pile unloading equipment to unload materials in sequence from the previous rock pile point to the current rock pile point and then to the next rock pile point, until all rock pile operations on the working surface are completed.

2. The method for determining the height of rockfill for an engineering structure constructed with rockfill concrete according to claim 1, characterized in that: In step 200, the multiple rockfill parameters specifically include: the rock volume V that can be accommodated in the bucket of the rockfill dump equipment; 车 , the maximum turning angle θ of the bottom of the bucket of the rock dump equipment relative to the working surface, the width b inside the bucket, and the constraints on both sides of the rock dump; wherein, The restraint condition refers to whether there are piles of rocks on both sides of the bucket of the rock-filling dump equipment as obstructions when rock-filling, including: no restraint on both sides and no restraint on one side.

3. The method for determining the height of rockfill for an engineering structure constructed with rockfill concrete according to claim 1, wherein: In step 200, the rockfill parameters are substituted into the following fixed-height rockfill formula to determine the rockfill distance l: When there are no constraints on both sides: When one side is unconstrained: Where, β refers to the coefficient other than h and b in the above formula. k=V / V 车 , k represents the volume reduction coefficient of the rock pile before and after it is piled into the working surface, wherein V represents the volume of the rock pile after it is piled into the working surface by the unloading method in a single pass; The repose angle α is the complementary angle of the maximum flip angle θ.

4. The method for determining the height of rockfill for an engineering structure constructed with rockfill concrete according to claim 1, wherein: In step 200, driving the rock-fill dump equipment to the current rock-fill point determined on the rock-fill route to start rock-filling further includes: When the driving direction of the rock-fill self-unloading equipment along the rock-fill route is perpendicular to the center line of the rock-fill self-unloading equipment: The rock pile distance l is the distance between the current rock pile point and the edge of the previous rock pile located on the center line of the rock pile dump equipment; On a center line perpendicular to the rock-pile dumping device, the distance between the current rock-pile point and the previous rock-pile point is a translation distance c, and the translation distance c is determined by the following translation distance formula: c=b+γb0, In the above formula, b0 represents the distance between the farthest-rolled stone and the center line of the rock-stack self-unloading device after the stone rolls down perpendicularly to the operating direction of the rock-stack self-unloading device during the rock-stack process minus b / 2, where 0.5<γ<0.

8.

5. The method for determining the height of rockfill for an engineering structure constructed with rockfill concrete according to claim 1, wherein: The step 200 further includes determining whether the current rock pile point is the first rock pile point in the working surface. If so, step 401 is executed after step 300: the height of the current rock pile is manually controlled to reach the rock pile height parameter h, and then step 500 is continued. Otherwise, step 300 is directly executed.

6. The method for determining the height of rockfill for an engineering structure constructed with rockfill concrete according to claim 1, characterized in that: The specific value range of the correction coefficient λ in step 400 includes: when h'>h, then 1.0<λ<1.2; when h'<h, then λ is 0.8<λ<1.

0.

7. The method for determining the height of rockfill for an engineering structure constructed with rockfill concrete according to claim 6, wherein: The value range of the correction coefficient λ and the rock pile operation mode further include: if the correction coefficient λ is less than 0.8, the stones are transported again for unloading or the height of the current rock pile is manually filled; if the correction coefficient λ is greater than 1.2, the stones in the current rock pile that are higher than the rock pile height parameter h are removed.

8. The method for determining the height of rockfill for an engineering structure constructed with rockfill concrete according to claim 1, characterized in that: The method further includes step 450 between step 400 and step 500: if the correction coefficient λ is less than 1, the stones are transported again for unloading or the height of the current stone pile is manually filled; if the correction coefficient λ is greater than 1, the stones in the current stone pile that are higher than the stone pile height parameter h are removed.

9. The method for determining the height of rockfill for an engineering structure constructed with rockfill concrete according to claim 1, wherein: The step 100 of pre-planning the rockfill route according to the working surface shape includes the following steps: Step 101: Determine the working space. Specifically, the process includes first determining the bottom surface of the working space as the working surface, then determining the axis of the working surface and inner and outer edge surfaces located on the left and right sides of the axis, respectively. The inner and outer edge surfaces, the end surface, the top surface, and the bottom working surface together form a working space, and the rock-filling self-unloading device moves within the working space to perform rock-filling operations. Wherein, the axis is the center line of the working surface along the length direction; The inner edge surface is the edge surface away from the entrance and exit of the working space; The outer edge surface is the edge surface close to the entrance and exit of the working space; The end surface is an edge surface between the inner edge surface and the outer edge surface away from the entrance and exit; The top surface is an edge surface between the inner edge surface and the outer edge surface close to the entrance and exit; Step 102: driving the rock-fill unloading equipment to move along the first rock-fill route; wherein, The first row of rockfill routes is close to the side of the inner edge surface, starts from the side of the inner edge surface close to the end surface, and ends at a position before the position of the inner edge surface close to the top surface, and the distance between the previous position and the top surface is not less than the total width of the rockfill self-unloading equipment; Step 103: driving the rock-pile unloading device perpendicular to the starting position of the first row of rock-pile route, and performing translational rock-pile to complete the middle row of rock-pile route, until the end position of the middle row of rock-pile is aligned with the end position of the first row of rock-pile; Step 104: Repeat step 103 to complete multiple intermediate rockfill routes until the distance between the last intermediate row of rockfill and the side where the outer edge surface is located is within a range of 1 to 2 times the length of the rockfill dump unloading equipment; Step 105: driving the rock-fill self-unloading equipment to complete two last-row rock-fill routes along a row perpendicular to the inner edge surface close to the top surface and a row close to the outer edge surface until the rock-fill covers the entire working surface.

10. The rockfill route according to claim 9, characterized in that: In step 102 to step 105, the rock pile distance l between the current rock pile point and the edge of the previous rock pile located on the center line of the rock pile dump equipment is determined based on the fixed height rock pile formula. When there are no constraints on both sides: When one side is unconstrained: Where, β refers to the coefficient other than h and b in the above formula. k=V / V 车 , k represents the volume reduction coefficient of the rocks before and after they are piled into the silo, where V represents the volume of the rocks after they are piled into the silo by the unloading method in a single pass; The repose angle α is the complementary angle of the maximum flip angle θ.

11. The rockfill route according to claim 10, characterized in that: In step 103 and step 104, the translation distance c between the current rock pile point and the previous rock pile point on the line perpendicular to the center line of the rock pile self-unloading equipment is determined according to the following translation distance formula when the driving direction of the rock pile self-unloading equipment along the rock pile route is perpendicular to the center line of the rock pile self-unloading equipment: c=b+γb0, In the above formula, b0 represents the distance between the farthest-rolled stone and the center line of the rock-stack self-unloading equipment after the stone rolls down perpendicularly to the operating direction of the rock-stack self-unloading equipment during the rock-stack process minus b / 2, where 0.5<γ<0.8.

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