Method for building a rockfill structure with a predetermined height

Abstract

This application relates to a fixed-height riprap method for riprap concrete construction, comprising the following steps: determining the riprap height parameter h; pre-planning the riprap route; driving a riprap unloading device to the current riprap point on the riprap route to begin riprap; when the line connecting the current riprap point and the previous riprap point coincides with the centerline of the riprap unloading device, the perpendicular line from the current riprap point to the edge of the previous riprap is the riprap distance l; driving the riprap unloading device to unload all the stones in the truck bed onto the work surface; measuring the actual height h' of the current riprap, and determining a correction coefficient λ based on the error between h' and h; correcting the riprap distance l' for the next riprap based on λ; repeating the above steps until all riprap work on the work surface is completed. Using this fixed-height riprap method, the riprap parameters can be dynamically corrected based on the actual riprap height, significantly improving the utilization rate of the riprap equipment and accelerating the riprap work progress on the work surface.

Description

Technical Field

[0001] This application relates to a riprap method, and more particularly to a fixed-height riprap method for riprap concrete construction of engineering structures and a riprap route for riprap placement within the work area based on this method. Background Technology

[0002] Currently, in rockfill concrete projects, the traditional method for controlling the height of the rockfill is to use excavators or rock grabbers, with manual assistance. For example, in the construction of rockfill concrete dams, the rockfill techniques for controlling the height of the rockfill can be divided into two main categories: the first is to transport the rockfill to the rockfill working face by dump trucks, and then use excavators to lay it up to adjust the height of the rockfill within the working face; the second is to use tower cranes to hoist and lay the stones, that is, to use tower cranes to hoist the stones to the working face, and then use manual labor or auxiliary equipment to level them.

[0003] The rockfill paving methods commonly used in the above-mentioned projects have many shortcomings in terms of height control. The existing rockfill paving height control mainly relies on manual interpretation, and when paving over a large area, it is necessary to constantly use excavators, rock grabbers and other mechanical equipment to adjust the position of the rockfill to meet the overall rockfill ratio and height requirements. Moreover, frequent height adjustments not only cause the rockfill to break, producing undersized material and stone dust, but also seriously prolong the construction time of rockfill paving.

[0004] Therefore, proposing an engineering height control method that is expected to significantly improve the accuracy and efficiency of rockfill height control, as well as enhance the ease of construction and the level of intelligence, is an urgent technical problem to be solved. Summary of the Invention

[0005] To address the technical problems existing in the prior art, this application proposes an engineering fixed-height rockfill method, which can calculate the unloading position of each truck using the engineering fixed-height rockfill formula, so that the top height of each rockfill after natural formation is close to the design value h, reducing human estimation errors and repeated leveling, thereby reducing intermediate leveling and rework links, reducing reliance on manual experience, and realizing adaptive control of the construction process.

[0006] This application proposes a fixed-height riprap method for riprap concrete construction, comprising the following steps: Step 100: Determine the riprap height parameter h in the riprap parameters according to the design height of the working face; pre-determine the riprap route according to the shape of the working face, and drive the riprap unloading equipment to unload materials sequentially according to the order of the stone piles in the riprap route to complete the riprap operation; Step 200: Drive the riprap unloading equipment to the current riprap point to start riprap; when the line connecting the current riprap point and the previous riprap point coincides with the centerline of the riprap unloading equipment, the perpendicular line from the current riprap point to the edge of the previous stone pile is the riprap distance l; the riprap distance l is calculated based on multiple riprap parameters, and the positional relationship between the current riprap point and the previous riprap point conforms to the direction setting of the riprap route. Step 300: Drive the dump truck of the rock dumping equipment to gradually rotate to the maximum rotation angle θ, and unload all the stones in the truck onto the working surface; Step 400: Measure the actual height h' of the current stone pile, and determine the correction coefficient λ based on the error between the actual height h' and the stone pile height parameter h; where, the correction coefficient λ = actual height h' / stone pile height parameter h; Step 500: Correct the stone pile distance l' for the next stone pile according to the correction coefficient λ, and the value of the next stone pile distance l' is λ×l; Step 600: Repeat steps 200-500, drive the rock dumping equipment to unload in sequence from the previous stone pile point to the current stone pile point and then to the next stone pile point according to the stone pile sequence in the stone pile route, until all stone pile operations on the working surface are completed.

[0007] According to an embodiment of this application, optionally, in step 200, the plurality of rockfill parameters specifically include: the volume of stone V that can be accommodated in the hopper of the rockfill unloading equipment. 车 The maximum tilting angle θ of the bottom of the dump truck bed relative to the working surface, the width b inside the dump truck bed, and the constraint conditions on both sides of the piled stones; wherein, the constraint conditions refer to whether there are already piled stones on both sides of the dump truck bed as obstacles when the piled stones are stacked, including: no constraints on both sides and no constraints on one side.

[0008] According to an embodiment of this 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] In the formula,

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

[0015] k = V / V 车 , k represents the volume reduction factor before and after the stone is piled into the working face, where V represents the volume of the stone pile after a single unloading method is used to pile it into the working face; the angle of repose α is the complementary angle of the maximum flip angle θ.

[0016] According to an embodiment of this application, optionally, in step 200, driving the rockfill unloading equipment to the current rockfill point position determined by the rockfill route to start rockfilling further includes: when the rockfill unloading equipment is perpendicular to the centerline of the rockfill unloading equipment along the driving direction of the rockfill route: the rockfill distance l is the distance between the current rockfill point and the edge of the previous rockfill located on the centerline of the rockfill unloading equipment; on the centerline perpendicular to the rockfill unloading equipment, the distance between the current rockfill point and the previous rockfill point is a translation distance c, which is determined by the following translation distance formula:

[0017] c = b + γb0

[0018] In the above formula, b0 represents the distance between the stone that has rolled the furthest away from the center line of the stone unloading equipment and the stone unloading equipment after rolling down along the direction perpendicular to the operating direction of the stone unloading equipment, minus b / 2, where 0.5 < γ < 0.8.

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

[0020] According to an embodiment of this 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 this application, optionally, the range of values ​​for the correction coefficient λ and the stone-piling operation method further include: if the correction coefficient λ < 0.8, then transport the stones again for unloading or manually replenish the current height of the stone pile; if the correction coefficient λ > 1.2, then remove the stones that exceed the stone pile height parameter h.

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

[0023] According to an embodiment of this application, optionally, the step 1 of pre-planning the rock-stacking route based on the shape of the working surface includes the following steps: Step 101: Determine the working space: specifically including: first determining the bottom surface of the working space as the working surface, then determining 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, together with the end surface and the top surface and the bottom working surface, together enclose the working space, and the rock-stacking self-unloading equipment moves within the working space to perform rock-stacking 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 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-stacking self-unloading equipment along the first rock-stacking route. The movement is linear; wherein the first row of stone-piling routes is close to the side of the inner edge surface, starting from the side of the inner edge surface near the end surface, and ending at the position before the position of the inner edge surface near the top surface, the distance between the previous position and the top surface is not less than the total width of the stone-piling self-unloading equipment; Step 103: Drive the stone-piling self-unloading equipment perpendicular to the starting position of the first row of stone-piling routes and translate the stone pile to complete the middle row of stone-piling routes, until the ending position of the middle row of stone-piling is aligned with the ending position of the first row of stone-piling; Step 104: Repeat Step 103 to complete multiple middle row of stone-piling routes, until the distance of the last middle row of stone-piling from the side of the outer edge surface is within 1 to 2 times the length of the stone-piling self-unloading equipment; Step 105: Drive the stone-piling self-unloading equipment to complete two last row of stone-piling routes, one perpendicular to the inner edge surface near the top surface and the other close to the outer edge surface, until the stone pile covers the entire working surface.

[0024] According to an embodiment of this application, optionally, in steps 102 to 105, the distance l between the current rockfill point and the edge of the previous rockfill located on the centerline of the rockfill unloading equipment is determined based on the fixed-height rockfill formula.

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

[0026]

[0027] When one side is unconstrained:

[0028]

[0029] In the formula,

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

[0031] k = V / V 车 k represents the volume reduction factor before and after the stone is piled into the silo, where V represents the volume of the piled stone. 车 The volume of the rock pile after a single unloading process into the silo; the angle of repose α is the complementary angle to the maximum overturning angle θ.

[0032] According to an embodiment of this application, optionally, in steps 103 and 104, the translation distance c between the current rockfill point and the previous rockfill point is determined according to the following formula when the driving direction of the rockfill unloading device along the rockfill route is perpendicular to the centerline of the rockfill unloading device: on the centerline perpendicular to the centerline of the rockfill unloading device:

[0033] c = b + γb0

[0034] In the above formula, b0 represents the width of the stone that rolls from one side of the stone pile onto the working surface during the stone stacking process, where 0.5 < γ < 0.8.

[0035] The engineering height determination method proposed in this application allows for dynamic correction of rockfill parameters based on the actual rockfill height. This not only enables manual calculation to guide the rockfill operation of self-unloading equipment but also provides a methodological foundation and logical model support for subsequent automation and intelligent control. This method can improve the control accuracy of rockfill operations, increase equipment utilization, and accelerate the construction progress of rockfill within the work area. Attached Figure Description

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

[0037] Figure 1 This is a flowchart illustrating the engineering height determination method according to an embodiment of this application;

[0038] Figure 2(a) is a schematic diagram of the first column of the rockfill route in the embodiment of this application;

[0039] Figure 2(b) is a schematic diagram of the middle column of the rockfill route in an embodiment of this application;

[0040] Figure 2(c) is a schematic diagram of the last column of the rockfill route in an embodiment of this application;

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

[0042] Figure 4 yes Figure 3 A schematic diagram of the structure along direction A;

[0043] Figure 5 This is a schematic diagram of the structure of the dump truck bed of the rockfill self-unloading equipment in the overturned state according to an embodiment of this application;

[0044] Figure 6 This is a schematic diagram of the structure of the push plate of the rock dumping self-unloading equipment in the translation state according to an embodiment of this application;

[0045] Figure 7 This is a side view of the rock dumping self-unloading equipment in the flipped state according to an embodiment of this application.

[0046] Figure 8 This is a schematic diagram of the overall structure of the rock dumping self-unloading equipment in the flipped state according to an embodiment of this application;

[0047] Figure 9 A schematic diagram of the connecting rod working unit of the rock dumping self-unloading equipment in this application embodiment;

[0048] Figure 10(a) is a schematic diagram of the accumulated rockfill shape model in an embodiment of this application when there is no rockfill constraint on one side;

[0049] Figure 10(b) is an exploded view of the accumulated rockfill shape model of an embodiment of this application when there is no rockfill constraint on one side;

[0050] Figure 11(a) is a schematic diagram of a model of a quadrangular prism stone pile I without stone pile constraint on one side according to an embodiment of this application;

[0051] Figure 11(b) is a schematic diagram of the triangular prism stone pile II in an embodiment of this application when there is no stone pile constraint on one side.

[0052] Figure label:

[0053] 801. Inner edge surface; 802. Outer edge surface; 803. End surface; 804. Top surface; 805. Working surface; 10. Chassis; 11. Base plate; 12. Side wall assembly; 13. Inner push plate; 14. Pushing assembly; 19. Traveling mechanism; 141. First pushing unit; 142. Second pushing unit; 143. Third pushing unit; 121. Inner wall; 122. Outer wall; 50. Unloading guide plate; 80. Side wing baffle; 91. Track; 92. Track retraction device. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] In the following detailed description, reference can be made to the accompanying drawings, which 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. Specific embodiments of the present application are described in sufficient detail below to enable those skilled in the art to implement the technical solutions of the present application. It should be understood that other embodiments may also be utilized, or structural, logical, or electrical changes may be made to the embodiments of the present application.

[0056] like Figure 1 and combined Figures 2(a)-2(c) As shown, this application proposes a method for fixed-height rockfill in engineering, comprising the following steps:

[0057] Step 100: Determine the rockfill height parameter h based on the design height of the working face; pre-plan the rockfill route according to the shape of the working face, and drive the rockfill unloading equipment to unload the rockfill in sequence according to the rockfill route to complete the rockfill operation; wherein, the working face is any rockfill working face suitable for gravity-type or counterweight-type structures constructed using rockfill concrete technology, such as the working face of a rockfill concrete dam. In some embodiments, the rockfill height parameter h is determined based on the required height of the rockfill in the project. Usually, the design height h of the rockfill has already been determined in the pre-planned design scheme.

[0058] Step 200: Drive the rock-stacking unloading equipment to the current rock-stacking point to begin rock-stacking; when the line connecting the current rock-stacking point and the previous rock-stacking point coincides with the centerline of the rock-stacking unloading equipment, the perpendicular line from the current rock-stacking point to the edge of the previous rock-stacking point is the rock-stacking distance l; the rock-stacking distance l is calculated based on multiple rock-stacking parameters, and the positional relationship between the current rock-stacking point and the previous rock-stacking point conforms to the direction setting of the rock-stacking route. For example, when the rock-stacking equipment travels in a straight line along the centerline direction of the rock-stacking unloading equipment according to the rock-stacking route, the perpendicular distance from the current rock-stacking point to the edge of the previous rock-stacking point is the rock-stacking distance l; the rock-stacking is carried out at this distance.

[0059] Step 300: Upon reaching the rock-filling point, the dump truck of the rock-filling self-unloading equipment is gradually tilted to its maximum tilting angle θ, unloading all the stones in the truck onto the working surface. The maximum tilting angle θ of the truck determines the angle of repose α of the rock pile after it is piled up, which is one of the important parameters for controlling the height of the rock pile.

[0060] In some embodiments, it is determined whether the current rock-piling point is the first rock-piling point within the working face. If so, step 401 is executed after step 300: the height of the current rock pile is manually controlled to reach the rock-piling height parameter h; otherwise, step 300 and step 400 are continued. As shown in Figure 2(a), when the rock-piling unloading equipment enters the working face and begins its first rock-piling, the first rock-piling point of the unloading truck is located at the upper right corner of the figure.

[0061] Step 400: Measure the actual height h' of the current stone pile, and determine the correction coefficient λ based on the error between the actual height h' and the stone pile height parameter h; wherein, the correction coefficient λ = actual height h' / stone pile height parameter h.

[0062] As shown in Figure 2(a), the rock dumping equipment completes the rock dumping point one by one along the direction of the arrow. The direction of the arrow is the same as the center line of the rock dumping equipment. The distance l between the rock dumping equipment and the edge of the previous rock dump is calculated based on multiple rock dumping parameters.

[0063] Therefore, once the rock-stacking route is determined, and assuming that the volume of stone loaded in each truck is basically the same, the theoretical value of the rock-stacking distance l can be calculated based on the pre-determined rock-stacking height parameter h. This eliminates the need for manual parameter measurement before and after each rock-stacking, resulting in high accuracy and high piling efficiency.

[0064] Step 500: To calibrate the theoretical value and make the parameters of subsequent stone piles increasingly accurate, the stone pile distance l' for the next stone pile is corrected according to the correction coefficient λ. The value of the next stone pile distance l' is λ×l. In some embodiments, the specific 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 the above-mentioned specific range, the actual height of the current stone pile is not significantly different from h, and will not have a major impact on the flatness of the storage surface, so there is no need to recalibrate the height of the current stone pile.

[0065] Furthermore, if the correction coefficient λ < 0.8, it indicates that the current height of the stone pile is significantly less than h. If this is not corrected, it will affect the flatness of the storage surface, requiring the transport of more stones for unloading or manual correction of the current stone pile height. If the correction coefficient λ > 1.2, it indicates that the current stone pile height is significantly greater than h. If the excess stones are not removed, it will also affect the flatness of the storage surface, requiring the removal of stones exceeding the height parameter h. Generally, in engineering practice, accurate theoretical parameter values ​​can be obtained after 2-5 calibrations, eliminating the need for subsequent manual measurement of the actual height for calibration.

[0066] Step 600: Repeat steps 200-500 to drive the rock dumping self-unloading equipment to unload materials sequentially from the previous rock dumping point to the current rock dumping point and then to the next rock dumping point in the rock dumping route until all rock dumping operations on the working face are completed.

[0067] In some embodiments, when a high degree of flatness is required on the storage surface, the actual height of each pile of stones should be calibrated. Therefore, between steps 400 and 500, step 450 is also included: if the correction coefficient λ < 1, then stones are transported again for unloading or the current pile height is manually replenished; if the correction coefficient λ > 1, then the stones in the current pile that exceed the pile height parameter h are removed. This ensures that each pile of stones meets the requirement h.

[0068] As shown in Figure 2(a), when the rock dumping self-unloading device is parallel to the center line of the rock dumping self-unloading device along the driving direction of the rock dumping route, the rock dumping distance l is the distance between the adjacent rock dumping point and the edge of the current rock dumping.

[0069] In some embodiments, in order to accurately calculate the theoretical value of the rock-stacking distance l, in step 200, the plurality of rock-stacking parameters specifically include: the volume of stone V that can be accommodated in the hopper of the rock-stacking dumping equipment. 车 The maximum tilt angle θ of the bottom of the dump truck bed relative to the working surface, the width b inside the dump truck bed, and the constraint conditions on both sides of the piled stone are used to determine the distance l of the piled stone; wherein, the constraint conditions refer to whether there are already piled stones on both sides of the dump truck bed as obstacles when the piled stone is being piled, including: no constraint on both sides and no constraint on one side; the complementary angle of the maximum tilt angle θ is the angle of repose α of the piled stone after unloading.

[0070] In some embodiments, as shown in Figures 2(a) and 2(b), the rockfill unloading device can not only complete rockfilling sequentially along a direction parallel to the centerline of the rockfill unloading device, but also complete rockfilling sequentially perpendicular to the centerline of the rockfill unloading device. In step 200, driving the rockfill unloading device to the current rockfilling point position determined by the rockfilling route to begin rockfilling further includes:

[0071] When the rock dumping equipment is perpendicular to its centerline along the driving direction of the rock dumping route: on the centerline of the rock dumping equipment, the rock dumping distance l is the distance between the edge of the adjacent rock dumping point and the current rock dumping point; this step is to locate the starting position of the rock dumping equipment when it is ready to move the rock dumping point. As shown in Figure 2(b), when determining the starting position of the second column, the rock dumping distance l between the first rock dumping point of the second column and the first rock dumping point of the first column must be determined first.

[0072] On the centerline perpendicular to the rockfill unloading device, the translational distance c between the next adjacent rockfill point and the previous adjacent rockfill point; continuing as shown in Figure 2(b), when the rockfill unloading device determines the second rockfill point of the second column of rockfill in the translational direction, the translational distance c between the next adjacent rockfill point and the previous adjacent rockfill point. In some embodiments, the translational distance c can be determined by the following translational distance formula:

[0073] c = b + γb0

[0074] In the above formula, b0 represents the distance between the stone that has rolled the furthest away from the center line of the stone unloading equipment and the stone unloading equipment after rolling down along the direction perpendicular to the operating direction of the stone unloading equipment, minus b / 2, where 0.5 < γ < 0.8.

[0075] like Figure 1 As shown in Figure 2, in some embodiments, step 100, which involves pre-planning the rockfill route based on the shape of the work surface, includes the following steps:

[0076] Step 101: Determine the working space: Specifically, this 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 together with the end surface 803 and the top surface 804 and the bottom working surface 805 together form the working space, and the rock dumping self-unloading equipment moves within the working space to carry out rock dumping operations;

[0077] Wherein, the axis is the centerline of the working surface along its length;

[0078] The inner edge surface 801 is the edge surface on the side away from the entrance and exit of the work space;

[0079] The outer edge surface 802 is the edge surface on the side near the entrance / exit of the work space;

[0080] Step 102: As shown in Figure 2(a), drive the rock-stacking self-unloading equipment along the centerline of the first row of rock-stacking routes, so that the height of the first row of rock-stacking is h; wherein, the first row of rock-stacking routes is close to the side of the inner edge surface 801, starting at the side of the inner edge surface 801 near the end surface 803, that is, the first rock-stacking point of the first row of rock-stacking, and ending at the position before the position of the inner edge surface 801 near the top surface 804. This is because when the first row of rock-stacking is done, the rock-stacking self-unloading equipment stacks rocks along the dam axis, and due to its own length limitation, it cannot fill the entire inner edge surface 801; in order to leave enough space for the dump truck to drive in and complete the rock-stacking operation of 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 rock-stacking self-unloading equipment.

[0081] Step 103: As shown in Figure 2(b), drive the rock dumping self-unloading device perpendicular to the starting position of the first rock dumping route and move the rock dumping horizontally to complete the middle rock dumping route until the ending position of the middle rock dumping route is aligned with the ending position of the first rock dumping route.

[0082] Step 104: The riprap unloading equipment repeats step 103 to complete multiple intermediate riprap routes until the distance between the last intermediate row of riprap and the side containing the outer edge surface 802 is within 1 to 2 times the length of the riprap unloading equipment. Similarly, due to the limitation of the length of the riprap unloading equipment itself, during the riprap stacking process in the axial direction, each intermediate row of riprap cannot fill the entire length of the working surface. Therefore, after all the intermediate rows have completed the riprap stacking operation, a gap will be left on the side of the working surface near the top surface 804 in the width direction.

[0083] In order for the dump truck to fill the last row of stones near the outer edge surface 802 along the length of the working surface, when the middle row of stones is piled, the middle row of stone piling process ends when the distance between the edge of the stone pile and the outer edge surface 802 is within 1 to 2 times the length of the stone piling dump equipment.

[0084] Step 105: As shown in Figure 2(c), drive the rockfill unloading device to complete two final rockfill routes along one column perpendicular to the inner edge surface 801 and close to the top surface 804, and another column close to the outer edge surface 802, until the rockfill covers the entire working surface. The rockfill method for the two final rockfill routes is the same as the method for the first rockfill route in Step 102. Since the total width of the remaining rockfill routes is different, when piling the last two final rockfill routes, it is necessary to recalculate the rockfill distance l and other parameters, and recalibrate the theoretical values ​​according to the method described in Step 600.

[0085] By utilizing the engineering height determination method proposed in this application and designing a parameterized engineering height determination formula for rockfill, the shortcomings of existing rockfill filling technologies in height control and dynamic height calibration are overcome. In terms of accuracy, it ensures that the unloading and forming height reaches the design value each time, improving the consistency of rockfill filling; in terms of efficiency, it reduces intermediate leveling and rework; in terms of construction simplicity, it reduces reliance on manual experience; and in terms of intelligence, it achieves adaptive control of the construction process.

[0086] Based on the engineering height determination method of this application, the rockfill route of this application can complete the rockfill laying on the working face efficiently and orderly. The determination of the rockfill route combines structured route planning, formulaic unloading control, and edge filling strategies, which solves the problems of many unloading blind spots, uneven pile height, and strong reliance on manual labor in traditional rockfill operations. It significantly improves the accuracy, efficiency, and intelligence level of rockfill operations and is suitable for promotion in automated / semi-automated engineering machinery operation environments.

[0087] In some embodiments, the rock dumping equipment can simply unload the stones from the truck bed onto the working surface.

[0088] In order to better integrate the fixed-height rock-stacking method of this application to efficiently complete rock-stacking, the following uses a rock-stacking self-unloading device as an example to explain in detail how to use the fixed-height rock-stacking method of this application to complete rock-stacking operations.

[0089] The following section first introduces a rock dumping self-unloading device.

[0090] like Figures 3-9As shown, this application proposes a rockfill unloading device for transporting and unloading stones within the construction compartment of a rockfill concrete dam to complete the dam's rockfill. It includes a chassis 10 and a truck bed (not shown) mounted on the chassis 10. To improve the load-bearing capacity and torsional stiffness of the rockfill unloading device, the chassis 10 typically adopts a frame structure. Frame structures offer quick on-site maintenance, extend the overall service life of the vehicle, and allow for future upgrades with reinforcing components based on working conditions. The truck bed is a bucket-shaped structure with an open top for receiving stones. Walking mechanisms 19 and a power source (not shown) driving the walking mechanisms 19 are located on both sides of the truck bed. The walking mechanisms 19 drive the rockfill unloading device to reciprocate between compartments.

[0091] The truck bed includes a bottom plate 11 and side wall assemblies 12 fixed to both sides of the bottom plate 11. The side wall assemblies 12 prevent stones inside the truck bed from falling outside. In order to unload all the stones inside the truck bed 11 onto the working surface, an inner push plate 13 is provided inside the truck bed 11. The two sides of the inner push plate 13 are connected to the side wall assemblies 12 through a first pushing assembly 14. In some embodiments, the inner push plate 13 is arranged parallel to the bottom plate 11 inside the truck bed when not in operation.

[0092] like Figures 3-8 As shown, to avoid the influence of stones, the main bodies of the first pushing components 14 on both sides of the inner pushing plate 13 are housed within the accommodating space of the side wall component 12, and their free ends are connected to the inner pushing plate 13 through inclined guide rails provided on the side wall component 12. The accommodating space can protect the first pushing components 14 from free extension and retraction, and prevent interruptions in operation caused by stones pressing on the first pushing components 14.

[0093] In order to be able to flip over the end of the bottom plate 11 and exit the interior of the truck bed 11 so as to unload all the stones, the end of the inner push plate 13 is flipped to connect with the end of the bottom plate 11. Under the drive of the first push 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 translate relative to the bottom plate 11.

[0094] To enable the truck bed to rotate around the chassis 10 and unload all the stones, the truck bed is rotatably connected to the chassis 10 via a second jacking assembly 15. The second jacking assembly 15 can lift the middle of the truck bed and rotate it over a certain angle to unload the stones. The rock dumping self-unloading device also includes a central control mechanism (not shown in the figure) 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 translational and rotational movements of the inner push plate 13, outputs control signals to the second jacking assembly 15 to control the rotational movement of the truck bed, and outputs control signals to the power source to control the walking movement of the rock dumping self-unloading device. In order to smoothly unload all the stones in the truck bed and ensure that the impact force during the unloading process is small and the amount of waste material is minimized, the central control mechanism controls the overturning and translation movements in the following sequence during the unloading process of the stone dumping equipment: the truck bed first overturns 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 overturns relative to the bottom plate 11.

[0095] Specifically, the rock dumping self-unloading equipment of this application first flips the truck bed relative to the chassis 10, causing the stones loaded in the truck bed to roll towards the end of the chassis 10 into 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 stones located at the bottom of the truck bed toward the top of the truck bed.

[0096] 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 motion, when the inner push plate 13 moves 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 failing to return to its original position.

[0097] Combination Figures 6 to 8 As shown, through the second flipping motion, the inner push plate 13 flips relative to the bottom plate 10 until all the stones are piled on the working surface, completing the unloading.

[0098] The rockfill self-unloading equipment of this application combines two overturning movements and one translation movement to smoothly unload the stones in the truck bed onto the construction work surface, which can effectively reduce the proportion of rockfill breakage and improve the structural strength and stability of rockfill concrete dams.

[0099] Continue as Figures 3-8As shown, the truck bed is hinged to the chassis 10 within a first tilting angle range. The first tilting angle is the angle between the plane of the truck bed and the plane of the chassis 10. Within an angle not exceeding 80°, it ensures that some of the stones near the end of the truck bed 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 avoids the situation where all the stones are dumped out at once due to an excessively large tilting angle of the truck bed, resulting in a large impact on the working surface; and it also avoids the situation where the stones fail to slide completely into the receiving range of the inner push plate 13 due to an excessively small tilting angle of the truck bed, causing some stones to fall between the inner push plate 13 and the truck bed when the inner push plate begins to unload, resulting in the inner push plate being stuck by stones when it is returned to the bottom of the truck bed and unable to return to its original position, and preventing all the stones in the truck bed from being unloaded. The inner push plate 13 is hinged to the base plate 11 within a second flip angle range. The second flip angle is the angle between the plane of the inner push plate 13 and the plane of the chassis, and the angle is between 80° and 150°. That is, when the first flipping motion is completed, the truck bed forms an acute angle of no more than 80° relative to the working surface; then, when the inner push plate 13 moves horizontally, the angle between the truck bed and the working surface remains unchanged. At this time, the angle between the inner push plate 13 and the working surface is the same as the angle between the truck bed and the working surface, which is also within the range of no more than 80°; finally, after the inner push plate 13 completes the second flipping motion, the inner push plate 13 forms an obtuse angle of no more than 150° relative to the working surface, to ensure that all the stones are unloaded and that the already piled stones are not excessively compressed due to the excessive flipping angle of the inner push plate 13.

[0100] In some embodiments, the rock dumping equipment requires an engineering unloading truck to drive in and unload the material. To further ensure that after the truck bed is overturned, the unloaded stones gradually slide into the receiving area of ​​the inner push plate 13, the volume of the truck bed corresponding to the inner push plate 13 is 1.0 to 1.5 times the volume of the engineering unloading truck bed, wherein the width of the inner push plate 13 is adapted to the area on the bottom plate 11 that can receive stones.

[0101] In some embodiments, the translational movement may partially coincide with the first flipping movement; that is, when the truck bed tilts to a certain angle, the inner push plate 13 simultaneously begins its translational movement. Specifically, during the unloading process of the rock dumping equipment, the truck bed first flips relative to the chassis 10 to a first predetermined angle. As the first flipping angle increases, and the stones continuously roll towards the end of the chassis 10, the inner push plate 13 begins its translational movement relative to the base plate 11 while the truck bed continues its flipping movement relative to the chassis 10 until it reaches the maximum first flipping angle. The inner push plate 13 finally flips relative to the base plate 11 to a second predetermined angle. Both the first and second flips have predetermined angles, and the first predetermined angle is within the range of the first flipping angle, while the second predetermined angle is within the range of the second flipping angle. In some embodiments, the second predetermined angle is in the 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 truck bed, unloading all the stones. The upper limit of the second predetermined angle depends on the working conditions. The angle of repose after the rock dumping equipment has piled up the rock can be calculated based on the expected rock pile height. The angle of repose and the second predetermined angle are complementary angles.

[0102] The advantage of this design is that the impact force on the stones during unloading can be released in stages. By unloading in stages, although the total impact energy remains constant, the peak impact force is dispersed, thereby significantly reducing the risk of damage to the equipment and stones from instantaneous impact. This effectively solves the technical problem of increased material loss due to excessive unloading impact during concentrated stone drop. Specifically, when the bucket tilts to the first predetermined angle, gravity assists the stones in sliding down, reducing pushing resistance. As the bucket continues to move towards the maximum tilting angle, the translational movement of the inner push plate helps the stones fall more evenly onto the working surface, avoiding concentrated stone drop and the sudden collapse impact caused by "material jamming" during unloading in traditional unloading equipment. Finally, when the remaining stones are further unloaded with the second tilt of the inner push plate, the inner push plate has tilted significantly, further reducing the sliding height and speed of the stones, resulting in less impact force and ensuring a smoother and more efficient unloading process.

[0103] Continue as Figures 3-8As 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 three pushing units can be completely identical or their internal components can be added or removed according to actual usage needs. The side wall assembly 12 includes an inner wall 121 and an outer wall 122 that are parallel to each other and spaced apart, with an accommodating space (not shown in the figure) between them. 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 moving end of the first pushing unit 141 is connected to the middle of the inner pushing plate 13 and is movably disposed in the first guide rail (not shown in the figure) opened in the middle of the inner wall; the moving end of the second pushing unit 142 is connected to the end of the inner pushing plate and is movably disposed in the second guide rail opened at the end of the inner wall. The accommodating space isolates the main structures of the first pushing unit 141 and the second pushing unit 142 from the stones in the truck bed, effectively protecting the main structures of the pushing units from the impact of the stones and preventing the pushing units from being unable to extend and retract smoothly due to the stones. In some embodiments, the fixed ends of each pushing unit are hinged to the connecting components.

[0104] Continue as Figures 3-8 As shown, the third jacking unit 151 is a component that pushes the entire truck bed to flip, rather than a component that pushes the inner push plate; therefore, its main structure is not located within the accommodating space. The two ends of the third jacking unit 151 are respectively connected to the chassis 10 and the outer wall 121, and are located on the outer sides of the truck bed. When the third jacking unit 151 operates, its free end extends, causing the truck bed to flip.

[0105] The two aforementioned jacking components provide power to drive the truck bed and inner push plate 13 to tilt or translate. In some embodiments, a hydraulic working unit or a linkage working unit is selected as the jacking component. As two typical power transmission forms in a mechanical system, both can achieve the driving and motion control of truck bed tilting, inner push plate translation, and tilting through specific energy conversion mechanisms.

[0106] In some embodiments, the hydraulic working unit (not shown in the figure) includes: a fixedly mounted cylinder and an axially sliding piston rod; the cylinder is a fixed end, fixed within 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 a push-pull action; the cylinder is connected to a hydraulic power module and a control system for controlling and driving the movement of the piston rod; wherein, the hydraulic power module is driven by a servo motor to power a hydraulic pump and connected to the control system via a high-pressure pipeline to the cylinder inlet, and includes a proportional valve installed on the high-pressure pipeline, a sensor for detecting pipeline pressure, and a PID controller for real-time adjustment of the proportional valve opening based on the pressure signal.

[0107] Typically, the core of a hydraulic working unit consists of a cylinder, piston rod, hydraulic power module, and control system, which will not be elaborated further here. The fixedly installed cylinder serves as the foundation support for the actuator, secured to the chassis 10 or the accommodating space by bolts, forming a stable force reference point. The axially sliding piston rod serves as the power output end, its end connected to the driven component, such as the truck bed or inner push plate 13, via a mechanical interface, achieving push-pull action through telescopic movement. In some embodiments, the hydraulic power module consists 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 piston pump) to draw hydraulic oil from the tank and pressurize it. The high-pressure oil is delivered to the cylinder inlet through a steel pipe or high-strength hose. A proportional valve installed in the oil circuit serves as the core control element, precisely controlling the flow rate and pressure transmission direction by adjusting the valve core opening. Pressure sensors located at key nodes in 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-level response speed through a closed-loop algorithm (proportional-integral-derivative control). For example, when a sudden load change causes pressure fluctuations exceeding a set threshold, it can quickly complete valve opening compensation adjustment. During operation, after the servo motor starts, it drives the hydraulic pump to establish system pressure. 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 pressure changes, and the control system maintains the pressure stable within the error range through PID calculations. After completing the action, 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 integrates the high rigidity of mechanical transmission with the high power density characteristics of the hydraulic system, which can effectively ensure the force control precision of the rock dumping equipment.

[0108] Traditionally, the power module in an industrial hydraulic work unit is powered by a hydraulic pump driven by an electric motor, which provides the pressurized oil. Common solutions include using an asynchronous AC motor (fixed speed) to drive a constant displacement pump, and in recent years, servo / variable frequency motors (variable speed) to drive the hydraulic pump. Hydraulic pumps can be divided into two main categories: constant displacement (fixed displacement pumps) and variable displacement pumps. Both can be combined with different motor drives to form various drive methods.

[0109] like Figure 9 and combined Figures 3-8As shown, in some embodiments, a linkage working unit can be used instead of the hydraulic working unit described above. The linkage working unit includes a four-bar linkage structure, further comprising: a driving link AB, the first end of which is fixed to the chassis 10 or the accommodating space via a first revolute joint 91; a driven link BC, the first end of which is hinged to the end of the driving link AB via a second revolute joint 92; and an output link CD, the first end of which is hinged to the end of the driven link BC via a third revolute joint 93, and the end of which is fixed to the chassis 10 or the accommodating space via a fourth revolute joint 94; wherein the axial distance between the first revolute joint 91 and the fourth revolute joint 94 constitutes a fixed member AD. In this application, the fixed member AD is the portion between the first revolute joint 91 and the fourth revolute joint 94 on the bottom plane of the chassis 10 or the accommodating space. The active link AB, the driven link BC, and the output link CD constitute three motion links, and the axes of the four sets of revolute joints 91-94 are arranged parallel to each other; the first end of the output link CD is the moving end of the four-bar hinge structure, and it 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.

[0110] like Figure 9 As shown, when the power source (such as a motor) drives the active link AB to rotate around a fixed point A in the direction indicated by the arrow in the diagram, point B causes the driven link BC to produce planar motion, forcing point C to swing along a specific trajectory. Since one end of the output link CD is hinged to a 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 truck bed to extend outward; when it rotates counterclockwise, it will cause the inner push plate 13 or the truck bed to retract. Its range of motion is determined by the length ratio of each link and can be adjusted according to specific working conditions.

[0111] In some embodiments, the four sets of rotating pairs described above can use low-friction bearings (friction coefficient ≤ 0.002) to ensure mechanical efficiency, while the parallel shaft system design eliminates the risk of spatial interference. This structure, by changing the rotation angle of the active connecting rod, allows the output point C to move along a specific trajectory, making it particularly suitable for scenarios requiring directional push-pull actions, such as those in the rock dumping self-unloading equipment of this application. It has the advantages of compact structure, strong determinism of motion trajectory, and low maintenance cost.

[0112] Continue as Figures 3-8As shown, the front end of the base plate 11 is an open feed end 111, and the rear 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 a discharge guide plate 50. The planes where the discharge guide plate 50 and the base plate 11 are located form a first obtuse angle, which can be adjusted according to the actual working conditions. When the inner push plate 13 moves along the inclined guide rail opened on the inner wall 121 of the side wall assembly 12 under the drive of the first push unit 141 and the second push unit 142, the rearmost end of the inner push plate 13 can be supported on the discharge guide plate 50. Under the support, the translational movement of the inner push plate 13 can be more stable. In some embodiments, the end of the sidewall 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 translates relative to the bottom plate 11, the end of the inner push plate 13 translates under the support of the unloading guide plate.

[0113] Continue as Figures 3-8 As shown in Figure 2, in order to prevent stones from rolling off the pile onto the sides of the dump truck, two symmetrical side wing baffles 80 are provided on the outer side of the connection between the end of the truck bed and the chassis. One side of each side wing baffle 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 face of the side wing baffle 80 is close to the end of the chassis 10; the height of the side wing baffle 80 is adapted to the height of the truck bed.

[0114] Continue as Figures 3-8 As shown, to achieve a better shielding effect, the front surface of the side wing baffle 80 where it meets the riprap is inclined, such as... Figure 6 As shown, when the inner push plate is at the second predetermined angle position and the side wing baffle 80 is open, the front surface of the side wing baffle 80 is parallel to the inner push plate 13. In some embodiments, a fourth jacking unit (not shown) is further included to open the side wing baffle 80. The moving end of the fourth jacking unit is fixedly connected to the side wing baffle 80, and the fixed end is fixed to the chassis 10. When it is necessary to open the side wing baffle 80, the fourth jacking unit is controlled to operate and open it from the side wing of the truck bed to block the stones rolling down from both sides of the pile during the stone-stacking process.

[0115] In some embodiments, the power source (not shown in the figure) includes an electric drive system, an internal combustion engine hydraulic system, or a hybrid system, used to drive the rock dumping equipment to move between work faces; the specific drive type depends on the working conditions. The walking mechanism 19 includes two symmetrically arranged track assemblies, including two tracks 91 and a track retraction device 92. The track retraction device 192 is used to lift the tracks off the ground or place them back in position to drive the rock dumping equipment to move.

[0116] In some embodiments, the track retraction device 92 includes: dual-sided lifting mechanisms (not shown in the figure), symmetrically arranged on the outer side of the side wall 121. Each lifting mechanism includes: a lifting arm, hinged to the side wall via a first pivot and hinged to the track via a second pivot; a drive cylinder, including a cylinder body and a piston rod, the moving end of the piston rod being hinged to the lifting arm via a third pivot; wherein, when the drive cylinder extends, it pushes the lifting arm downward to lower the track to the ground, and when it retracts, it pulls the lifting arm upward to lift the track off the ground.

[0117] After the rock dumping equipment completes unloading, the central control mechanism controls the tilting and translation movements to retract the inner push plate 13 and the truck bed in the following sequence: the truck bed first tilts relative to the chassis 10; the inner push plate 13 then translates relative to the bottom plate 11 and finally tilts relative to the bottom plate 11; or, after the rock dumping equipment completes unloading, the central control mechanism controls the tilting and translation movements to be executed synchronously.

[0118] In some embodiments, unloading and stockpiling rocks within the working face of a rockfill concrete dam using the rockfill self-unloading equipment of this application includes the following steps:

[0119] Step B1: Drive the rockfill unloading equipment to the unloading point inside the rockfill bin where rock needs to be unloaded;

[0120] Step B2: Use the rock dumping equipment to pile the stones in the truck bed into the rock dump bin;

[0121] Step B3: Determine whether the rock pile height in the rock pile bin has reached the required rock pile height. If it has, stop rock pile piling. If the preset rock pile height has not been reached, repeat steps A1-A6 to continue piling until the required rock pile height is reached.

[0122] In some embodiments, the required height for rockfill is calculated based on a fixed-height rockfill formula applicable to rockfill dump trucks, and the theoretical value is continuously revised by combining actual measurement values ​​in the engineering process.

[0123] The fixed-height rockfill method for engineering projects includes the following steps:

[0124] Step 100: Determine the rockfill height parameter h based on the designed working face height, and determine the volume V of stone that the dump truck can hold based on the rockfill unloading equipment's bucket. 车 The second predetermined angle θ of the inner push plate's flipping motion relative to the base plate, the width b of the inner push plate, and the constraint conditions on both sides of the inner push plate are used to determine the stone stacking distance l.

[0125] Step 200: Using any of the unloading methods described above, pile the stones in the truck bed onto the working surface; wherein

[0126] Stone pile distance l: refers to the horizontal distance from the end of the truck bed to the edge of the previous stone pile;

[0127] Constraint status: refers to whether there are piles of stones on both sides of the dump truck bed of the rock dumping equipment as obstructions, including no constraints on both sides and no constraints on one side;

[0128] The complementary angle of the second predetermined angle θ is the angle of repose α of the rock pile after unloading.

[0129] In some embodiments, the rockfill distance l is determined in step 100 using the following fixed-height rockfill formula:

[0130] When there are no constraints on both sides:

[0131]

[0132] When one side is unconstrained:

[0133]

[0134] In the formula, β refers to the coefficients other than h and b. k = V / V 车 , represents the volume reduction factor before and after the stone is piled into the silo, where V represents the volume of the piled stone. 车 The volume of the rock pile after being piled into the silo using the aforementioned unloading method in a single operation.

[0135] In some embodiments, step 50 is included before step 100: drive the rock dumping equipment to move to the first rock dumping point in the warehouse and unload the material to form the first rock pile, measure the height h1 of the first rock pile, and if h1 < h, then transport the stone again for unloading or manually replenish the height of the first rock pile.

[0136] Step 200 is followed by step 300: after each unloading, the actual height h' of the rock pile is measured, and a correction coefficient λ is determined based on the difference between h' and h to continuously adjust the rock pile distance l; wherein, when h' > h, then 1.0 < λ < 1.2; when h' < h, then λ is 0.8 < λ < 1.0.

[0137] During the unloading process, the route of the rockfill unloading equipment includes not only advancing along the axis to pile up rocks, but also horizontally shifting the pile. The specific rockfill route needs to be selected based on the actual engineering conditions. When shifting the pile, step 100 further includes: when the rockfill unloading equipment needs to continuously shift horizontally for unloading, the horizontal shift distance c of the rockfill unloading equipment between two adjacent unloading operations is determined by the following formula:

[0138] c = b + γb0

[0139] In the above formula, b0 represents the distance between the stone that has rolled the furthest away from the center line of the stone unloading equipment and the stone after rolling down along the direction perpendicular to the operating direction of the stone unloading equipment during the stone stacking process, minus b / 2, where 0.5 < γ < 0.8.

[0140] In some embodiments, the capacity of the truck bed, the length of the inner push plate 13, the width of the side wing baffle 80, the width of the front surface of the side wing 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 stacking. The dimensions of the above structure are specifically described below based on engineering practice: The stone stacking self-unloading equipment requires an engineering unloading truck to drive in for unloading. The volume of the truck bed corresponding to the inner push plate 13 is 1.0 to 1.5 times the volume of the engineering unloading truck bed. The width of the inner push plate 13 is adapted to the area on the bottom plate 11 that can receive stones. The sum of the width of the side wing baffle 80 and the thickness of the accommodating space on the adjacent side is greater than or equal to the width of the inner push plate 13.

[0141] In some embodiments, before unloading, the rock dumping equipment of this application must first dock with a loading truck for loading, which includes the following steps:

[0142] Step A1: Drive the unloaded rock dumping equipment to the preset loading point;

[0143] Step A2: Drive the track retraction device to lift the track off the ground;

[0144] Step A3: An external loading truck transports the stones to the loading point. At least part of the loading truck's body drives into the truck bed from the feed end of the rock dumping equipment to facilitate stable unloading. After unloading the stones into the truck bed, the loading truck drives out.

[0145] The following example illustrates in detail how the rockfill self-unloading equipment of this application performs fixed-height rockfill in engineering. The fixed-height rockfill formula is derived based on theoretical models and known data.

[0146] I. Regarding the order of stone stacking

[0147] 1.1 First car pile of stones

[0148] When the first truckload of stones is piled up, the stones are placed in the stone unloading equipment and moved to the first stone pile accumulation point in the warehouse, where the stones can be piled up directly. The actual height h1 of the first stone pile is measured. If h1 < h, then stones are transported again for unloading or the height of the current stone pile is manually increased.

[0149] 1.2 Rockfill behind the first vehicle

[0150] The direction of rock stacking by the self-unloading equipment after the first truckload of rock stacking can be divided into two cases:

[0151] ①The rock dumping equipment continuously dumps rocks along the axial direction;

[0152] ②The rock dumping equipment moves horizontally continuously to continuously dump rocks.

[0153] 1.3 Begin rockfilling using the fixed-height rockfill method

[0154] ① Stack the riprap on the riprap unloading equipment and calculate the stacking volume V of the riprap inside the equipment. 车 ;

[0155] ②According to V 车 Calculate the volume V of the pile of stones in this vehicle after the stones are put into the warehouse;

[0156] ③ Based on the engineering fixed-height rock-stacking formula, determine the distance l between the rock-stacking of this vehicle and the rock-stacking of the preceding vehicle that has already entered the warehouse, using the rock-stacking height h required for the project;

[0157] ④ Move the rock dumping equipment a distance l from the rock pile, start the overturning equipment to unload the material, and record the final overturning 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 angle of repose α of the rock pile after unloading; ⑤ After the rock pile is completed, move the rock dumping equipment backward.

[0158] 1.4 Correcting the actual height of the riprap

[0159] After the distance *l* between the piled stones is calculated, the stones are piled up. However, the theoretical height *h* of the pile may deviate from the actual height *h'*. Therefore, a correction coefficient *λ* is proposed to adjust the distance *l* to meet the required height *h* for the project, where 0.8 < *λ* < 1.2. If the correction coefficient *λ* < 0.8, stones are transported again for unloading or the current pile height is manually increased. If the correction coefficient *λ* > 1.2, the stones exceeding the required height *h* are removed.

[0160] II. Derivation of the formula for fixed-height rockfill

[0161] 1.1 Rockfill Effect Estimation Model

[0162] The rockfill accumulated on the working surface after being flipped from the rockfill unloading equipment is roughly in the shape of a frustum (without constraints on both sides) or a frustum with a missing side (without constraints on one side). As shown in Figure 10(a), the physical model in the figure shows the shape of the accumulated rockfill when only one side is without rockfill constraints, which can be clearly seen as a frustum with a missing side.

[0163] As shown in Figure 10(b), the truncated pyramid shape with missing edges is simplified and divided into two types: a square prism pile I and a triangular prism pile II. In Figure 10(b), the inclination angle α is the angle of repose, and its theoretical value is the complementary angle to the final flip angle θ.

[0164] In rockfill engineering, the angle of repose α of a pile of stones on the working surface refers to the angle of repose that naturally forms on the surface of the pile when a truckload of stones is tilted onto the working surface. It can be imagined as the "limiting slope" of the pile—if the slope is too steep, the stones will slide down until the slope returns to this angle and stabilizes. The angle of repose α is formed by the combined effects of gravity and friction: gravity causes the stones to slide down; the friction between the stones prevents sliding; when these two forces reach equilibrium, the stones stop sliding, and the angle of repose at this point is the angle of repose.

[0165] Therefore, the angle of repose α in this application is the angle of inclination of the stone pile after it reaches equilibrium and is stably stacked. It is derived from the properties of the stone and other physical laws, and is an important theoretical parameter for calculating the height of the stone pile.

[0166] Continuing as shown in Figures 10(a) and 10(b), where pile I is defined as a fixed-shape quadrangular prism V1; pile II is defined as a shape V0 that changes with the angle of repose; and the volume of the pile on this vehicle is V.

[0167] When there are no constraints on either side of the stack, V = V1 + 2V0; when there is a constraint on only one side, V = V1 + V0.

[0168] As described above, based on the theoretical model, the proposed shape of the rockfill after it enters the storage area is a frustum, l is the distance between the rockfill unloading equipment and the previous rockfill, B is the total width of the rockfill after it enters the working face, h is the theoretical value of the required rockfill height, and α is the angle of repose of the rockfill. In some embodiments, the value of α ranges from 35° to 55°.

[0169] According to actual measurements, the porosity of the rockfill body inside the rockfill unloading 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. Therefore, the corresponding rockfill stacking rates are 50% and 55% respectively.

[0170] Therefore, when the accumulation volume is taken as 10m³ 3 At that time, the absolute volumes of rockfill masses A and B were 50% × 10 m³. 3 =5m 3 and 55% × 10m 3 =5.5m.

[0171] Assuming that the absolute volumes of rockfill A and rockfill B remain constant, and defining a reduction factor k, the relationship between the accumulated volumes of rockfill A and rockfill B is defined as follows:

[0172] k·V 车 =V

[0173] In the above formula:

[0174] V车 —The volume of the riprap body A;

[0175] V—The volume of the riprap body B;

[0176] k – reduction factor, 0.82 < k < 0.95.

[0177] 1.2 Based on the constraints, the formula for constant-height rockfill is derived.

[0178] As shown in Figures 11(a) and 11(b), the width of the square prism pile I is b, which is equal to the width of the inner push plate, and the width of the triangular prism pile II is b0, which corresponds to the width of the pile that slides to one side.

[0179] When there are no constraints on both sides, the pile of stones rolls to both sides, B = b + 2b0. When there is a constraint on one side and no constraint on the other, the pile of stones rolls only to one side, B = b + b0.

[0180] 1.2.1 When there are no bundles on both sides:

[0181] B = b + 2b0

[0182] In the formula, B and b are related to the width of the truck bed. Theoretically, assuming the rubble does not roll off, b is the width of the inner push plate in the truck bed. Comparing rubble pile I and rubble pile II, we can obtain:

[0183]

[0184] Further conversion yields:

[0185]

[0186] Treating all parameters except h and b as a whole (where b is a fixed value), and defining it as β, we have:

[0187]

[0188] Therefore, the range of β is 0.52 < β < 2.17.

[0189] Let b be the unit length, then we get:

[0190] V0=βhV1

[0191] Substituting the values, we can obtain the volume of the boulders B as:

[0192] V = V1 + 2V0

[0193] =lbh + 2 × βh × lh

[0194] Rewrite the above equation:

[0195] 2βl×h 2 +lb×hV=0

[0196] It can be seen that when b (width of the inner push plate of the hopper containing the rockfill), β (coefficient with a certain range of values), and V (determinable pile volume) are fixed values, controlling the size of l (rockfill distance) can achieve control of h (rockfill height).

[0197] 1.2.1 When one side is unbundled:

[0198] B = b + b0

[0199] The volume of rockfill B is:

[0200] V = V1 + V0

[0201] =lbh + β × l × h 2

[0202] Rewrite the above equation:

[0203] βl×h 2 +lb×hV=0

[0204] 1.2.3 The final formula for estimating the effect of riprap is as follows:

[0205]

[0206] The actual solution for h is obtained:

[0207]

[0208] k·V 车 Substituting the formula for V into the above equation yields the final control formula:

[0209]

[0210] In the formula:

[0211] l—distance between rubble m;

[0212] b—Width of the inner push plate of the truck bed used to hold the pile of stones, in meters;

[0213] h—Required height of rockfill for the project, in meters;

[0214] V—The volume of the rubble after it is loaded into the storage tank, in meters. 3 ;

[0215] β—reduction factor.

[0216] The correction coefficient λ is determined based on the difference. When the actual rockfill h' > h, then λ is 1.0 < λ < 1.2; when the actual rockfill h' < h, then λ is 0.8 < λ < 1.0.

[0217] The following is a specific calculation example demonstrating the process of fixed-height rockfill using the above-mentioned fixed-height rockfill formula and rockfill method.

[0218] The current regulation specifies that the rockfill volume inside a rockfill self-unloading device is V. 车 =14m 3 Take k = 0.86, the distance between the piles of stones is 1.2m, the width of the truck bed for holding the piles of stones is b = 3m, and the equipment flipping angle, i.e. the second predetermined angle of the inner push plate, is 135°.

[0219] Given that the tilting angle of the rock dumping equipment is 135°, the angle of repose α of the rock pile after it enters the working face is 180° - 135° = 45°, therefore the reduction factor β is 1; substituting this into the final fixed-height rock dumping formula:

[0220]

[0221] The heights of h were obtained as 1.61m (without constraints on both sides) and 2.01m (without constraints on one side).

[0222] In summary, the fixed-height rockfill method of this application can dynamically adjust the rockfill parameters based on the actual rockfill height. This allows for manual calculation to guide the rockfill unloading equipment during operation, and also 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 the rockfill construction progress within the work area, thereby improving rockfill quality and reducing construction costs.

[0223] The dump truck bed of the rockfill dumping equipment of this application initially flips within the first flipping angle, allowing the stones to slowly slide down solely by gravity. Subsequently, the inner push plate moves horizontally along the bottom plate, pushing the stones out of the working surface as a whole, and then flips them out of the truck bed within the second flipping angle range, achieving a combined "push-and-top" unloading. This composite motion of two flipping operations combined with one horizontal movement significantly reduces the stone drop height and impact velocity, and the rate of undersized material production is reduced by approximately 35%-50% compared to traditional self-unloading-digging loading combinations. It also reduces subsequent processes such as slag removal and re-screening, directly saving material and labor costs.

[0224] Moreover, when the machine is moving on the surface of the silo, the equipment is basically in an unloaded state. The ground pressure of the track is much lower than that of the tire pressure of a dump truck and the track pressure of a tracked excavator, which can greatly reduce the crushing and damage to the surface of the previous silo and ensure that the roughness and exposed rock between the two pouring surfaces are up to standard.

[0225] Furthermore, the machine adopts a frame chassis and an electric / hybrid hydraulic system, reducing its weight to only about 60% of a dump truck with the same stone load capacity, thus lowering daily maintenance and fuel (electricity) costs. Using the rock dumping equipment described in this application eliminates the need for excavator rental and drivers, resulting in a lower cost compared to the "dump truck + excavator" solution (6-7 yuan / m²). 3It saves more than 50%.

[0226] Finally, the track extension and retraction device can be raised and lowered freely. When changing unloading points, the track extension and retraction can precisely move to the unloading point; in addition, after completing the rockfill of this compartment, the track extension and retraction can allow it to move safely on narrow dam steps or steep slopes, quickly and flexibly transferring to the next compartment, reducing interference with subsequent construction.

[0227] Compared with the tower crane solution, there is no need to build a fixed tower and track, the equipment transfer time is less than 30 minutes, and it can climb up step by step with the pouring surface. The overall operation efficiency is 1.8-2.3 times that of the tower crane-manual stone laying method.

[0228] In summary, the fixed-height rockfill method of this application can significantly improve the accuracy of height control and construction efficiency, as well as improve the ease of construction and the level of intelligence.

[0229] 1. During the rockfill process, the accuracy of rockfill height control is significantly improved: the unloading position of each truckload can be calculated theoretically using the engineering fixed-height rockfill formula, ensuring that the top height of each rockfill pile after unloading and shaping is close to the design value h, reducing human estimation errors and repeated leveling. With real-time correction using the λ coefficient, the position can be adjusted promptly based on the measured height difference from the previous unloading, forming a closed-loop control. This efficiency in controlling the rockfill height is unattainable by traditional manual methods, helping to ensure strict adherence to the design elevation and guaranteeing project quality.

[0230] 2. Significantly Improved Construction Efficiency and Machinery Utilization: The engineering height-determining method simplifies the process of "gradually piling individual boulders to the specified height" to directly and precisely piling to the specified height. After each unloading, the design height can be achieved with little or no movement of individual boulders. This reduces the workload of moving boulders and cleaning debris, saving time and fuel for machinery operations. More importantly, construction personnel can continuously unload according to the route provided by the algorithm, without frequent stops for measurement or waiting for instructions, increasing the utilization rate of each piece of equipment and accelerating the overall progress.

[0231] 3. Standardized construction process and low reliance on manual labor: Guided by the fixed-height method, operators only need to unload materials according to the position and angle determined by the method, eliminating the need to rely on personal experience to judge the height of the rock pile. This standardized operation reduces reliance on highly skilled surveyors and experienced drivers, making construction easier to manage. In complex environments or during nighttime construction, this method can also avoid human judgment errors, ensuring stable pile quality.

[0232] When using the engineering height-fixed method of this application for riprap stacking, the determination of the riprap stacking route fully considers the turning radius of the dump truck and the problem of dead angles in the riprap stacking. A safety space related to the "total width of the equipment" is left at the first and last rows to facilitate vehicle turning and reversing without leaving dead angles; this solves the problems of "inconvenience at the edge and inability to stack to the edge" in the traditional "straight-line reverse-push" riprap stacking route. The two riprap stacking routes at the last row need to recalculate the riprap spacing l and recalibrate the theoretical height-fixed value; this ensures that even if errors exist in actual laying, they can be dynamically corrected to achieve end-point closure; avoiding additional rework caused by incomplete closure and riprap depression in the final stage of construction.

[0233] In the process of fixed-height rockfill, combined with the rockfill self-unloading equipment of this application, a new rockfill laying process of "low impact, low cost, high efficiency and high quality" can be achieved without introducing expensive hoisting equipment such as tower cranes. This overcomes the technical contradiction of the two existing mainstream solutions that are difficult to balance efficiency, quality and cost, and has significant industrial application value.

[0234] The above embodiments are for illustrative purposes only and are not intended to limit the invention. Those skilled in the art can make various changes and modifications without departing from the scope of the invention. Therefore, all equivalent technical solutions should also fall within the scope of the invention.

Claims

1. A method for fixed-height riprap construction of engineering structures using riprap concrete, characterized in that, The steps include the following: Step 100: Determine the rockfill height parameter h in the rockfill parameters based on the design height of the working face; Based on the shape of the working surface, a stone-piling route is pre-planned, and the stone-piling self-unloading equipment is driven to unload the stone piles in sequence according to the stone-piling route to complete the stone-piling operation. Step 200: Drive the rockfill unloading equipment to the current rockfill point to begin rockfilling; when the line connecting the current rockfill point and the previous rockfill point coincides with the centerline of the rockfill unloading equipment, the perpendicular line from the current rockfill point to the edge of the previous rockfill is the rockfill distance. l The distance of the pile of stones l The calculation is based on multiple rock-piling parameters, and the positional relationship between the current rock-piling point and the previous rock-piling point conforms to the direction setting of the rock-piling route. Step 300: The dump truck bed of the rock dumping equipment is gradually tilted to its maximum tilting angle. θ, Unload all the stones from the truck bed onto the work surface; Step 400: Measure the actual height of the current pile of stones. h’ And based on the actual height h’ Error correction coefficients are determined between the riprap height parameter h and the error. λ ; Among them, the correction coefficient λ =Actual height h’ / The height parameter h of the riprap; Step 500: According to the correction coefficient λ Adjust the pile distance for the next pile. l’ The distance to the next stone pile l’ The value is λ × l ; Step 600: Repeat steps 200-500 to drive the rock dumping self-unloading equipment to unload materials sequentially from the previous rock dumping point to the current rock dumping point and then to the next rock dumping point in the rock dumping route until all rock dumping operations on the working face are completed. In step 200, the plurality of rockfill parameters specifically include: the volume of rock that can be accommodated in the dump truck bed of the rockfill unloading equipment. The maximum tilting angle θ of the bottom of the dump truck bed relative to the working surface, the width b inside the dump truck bed, and the constraint conditions on both sides of the rock pile; wherein, The aforementioned constraint situation refers to whether there are already piled-up stones on both sides of the dump truck bed of the rock-stacking equipment as an obstruction during rock stacking, including situations where there are no constraints on both sides and no constraints on one side. 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: In the formula, β refers to the coefficients other than h and b. k=V / k represents the volume reduction factor before and after the stone is piled into the working face, where V represents the volume of the stone pile after a single unloading method is used to pile it into the working face. The rest angle α is the complementary angle to the maximum flip angle θ.

2. The method for fixed-height riprap construction of engineering structures for riprap concrete construction according to claim 1, characterized in that, Step 200, in which the rockfill unloading equipment is driven to the current rockfill point location determined by the rockfill route to begin rockfilling, further includes: When the driving direction of the rockfill unloading equipment along the rockfill route is perpendicular to the centerline of the rockfill unloading equipment: The distance of the pile l The distance between the current rock pile point and the edge of the previous rock pile located on the centerline of the rock dumping equipment; On the center line perpendicular to the rock dumping equipment, the distance between the current rock dumping point and the previous rock dumping point is a translation distance c, which is determined by the following translation distance formula: c = b + γb0, In the above formula, b0 represents the distance between the stone that has rolled the furthest away from the center line of the stone unloading equipment and the stone after rolling down along the direction perpendicular to the operating direction of the stone unloading equipment during the stone stacking process, minus b / 2, where 0.5 < γ < 0.

8.

3. The method for fixed-height riprap construction of engineering structures for riprap concrete construction according to claim 1, characterized in that, Step 200 further includes determining whether the current pile point is the first pile point within the working face. If so, after executing step 300, step 401 is executed: the height of the current pile is manually controlled to reach the pile height parameter h, and then step 500 is executed. Otherwise, step 300 is executed directly.

4. The method for fixed-height riprap construction of engineering structures for riprap concrete construction according to claim 1, characterized in that, The correction coefficient in step 400 λ The specific range of values ​​includes: when h’ > h When, then 1.0 < λ <1.2; when h’ < h At that time, λ Take 0.8 < λ <1.

0.

5. The method for fixed-height riprap construction of engineering structures for riprap concrete construction according to claim 4, characterized in that, The correction coefficient λ The range of values ​​for which the rockfill operation method is determined further includes: if the correction coefficient... λ If the value is less than 0.8, then the stones should be transported again for unloading or the current stone pile height should be manually replenished; if the correction factor is... λ If the value is greater than 1.2, then the stones in the current stone pile that are higher than the height parameter h will be removed.

6. The method for fixed-height riprap construction of engineering structures for riprap concrete construction according to claim 1, characterized in that, The step between step 400 and step 500 further includes step 450: if the correction coefficient λ If the height is less than 1, then the stones will be transported again for unloading or the current stone pile will be manually replenished. If the correction factor λ If the value is greater than 1, then the stones in the current stone pile that are higher than the height parameter h will be removed.

7. The method for fixed-height riprap construction of engineering structures for riprap concrete construction according to claim 1, characterized in that, Step 100, which involves pre-planning the rockfill route based on the shape of the work surface, includes the following steps: Step 101: Determine the working space: Specifically, this includes: first determining the bottom surface of the working space as the working surface, then determining 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, together with the end surface and the top surface and bottom surface, together enclose the working space, and the rock dumping self-unloading equipment moves within the working space to carry out rock dumping operations; Wherein, the axis is the centerline of the working surface along its length; The inner edge surface is the edge surface on the side away from the entrance / exit of the work space; The outer edge surface is the edge surface on the side closest to the entrance / exit of the work space; The end face is the edge face between the inner edge face and the outer edge face that is away from the entrance / exit; The top surface is the edge surface near the entrance / exit between the inner edge surface and the outer edge surface; Step 102: Drive the rockfill unloading equipment to move along the direction of the first rockfill route; wherein, The first row of rock-filled routes is close to the side where the inner edge surface is located, starting from the side of the inner edge surface near the end surface, and ending at the position before the position of the inner edge surface near the top surface. The distance between the previous position and the top surface is not less than the total width of the rock-filled self-unloading equipment. Step 103: Drive the rock dumping self-unloading device perpendicular to the starting position of the first row of rock dumping routes and move the rock dumping horizontally to complete the middle row of rock dumping routes until the ending position of the middle row of rock dumping is level with the ending position of the first row of rock dumping. Step 104: Repeat step 103 to complete multiple intermediate rock-fill routes until the distance between the last intermediate rock-fill row and the side where the outer edge is located is within 1 to 2 times the length of the rock-fill unloading equipment; Step 105: Drive the rock dumping equipment to complete two rock dumping routes along one column perpendicular to the inner edge surface and near the top surface, and along one column close to the outer edge surface, until the rock dumping covers the entire working surface.

8. The method for fixed-height riprap construction of engineering structures for riprap concrete construction according to claim 7, characterized in that, In steps 102 to 105, the distance between the current rockfill point and the edge of the previous rockfill located on the centerline of the rockfill unloading equipment is determined based on the fixed-height rockfill formula. l When there are no constraints on both sides: When one side is unconstrained: In the formula, β In the above formula, excluding h , b External coefficients, ; k= V / V 车 , k represents the volume reduction factor before and after the stone is piled into the silo, where V This indicates the volume of the rockfill after it has been loaded into the silo using the unloading method described above in a single operation. The rest angle α is the maximum flip angle. θ complementary angles.

9. The method for fixed-height riprap construction of engineering structures for riprap concrete construction according to claim 8, characterized in that, In steps 103 and 104, the translation distance c between the current rockfill point and the previous rockfill point is determined according to the following formula when the driving direction of the rockfill unloading equipment along the rockfill route is perpendicular to the centerline of the rockfill unloading equipment: c = b + γb0, In the above formula, b0 represents the distance between the stone that has rolled the furthest away from the center line of the stone unloading equipment and the stone unloading equipment after rolling down along the direction perpendicular to the operating direction of the stone unloading equipment during the stone stacking process, minus b / 2, where 0.5 < γ < 0.8.

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