Single-line ditch cable trough trolley and hydraulic control system thereof

Abstract

The invention relates to the technical field of hydraulic control, in particular to a single-line ditch cable trough trolley and a hydraulic control system thereof. The method comprises the following steps: firstly, acquiring data by using a data acquisition module, then analyzing parameters of a pouring template and a stirring state and a pouring speed of concrete in a demolding preprocessing module, determining a vibrating frequency, vibrating the pouring template, and meanwhile, acquiring a density parameter of the concrete at each hydraulic rod after pouring is completed; and finally, the demolding pressure abnormal parameter and the demolding priority coefficient of each hydraulic rod at each moment after pouring are analyzed in a demolding control module, and then the hydraulic rods are controlled to be lifted for demolding. By quantifying the coupling relation between the vibration effect of the concrete and the local pressure of the hydraulic rod area, whether the concrete meets the demolding condition or not is quantitatively evaluated, the hydraulic rod is automatically controlled to lift and demold, the automatic control effect of a hydraulic control system is improved, and then the construction effect of the single-line ditch cable trough trolley is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic control, in particular to a single-line water ditch cable trough trolley and a hydraulic control system thereof. Background Art

[0002] The single-line ditch and cable trough trolley is a special equipment used for the efficient pouring of ditch and cable trough structures in railway and highway tunnel construction. The trolley can prefabricate steel formwork according to the tunnel size, accurately position or adjust the steel formwork through the hydraulic system, and then pour concrete. It is vibrated with an attached vibrator to ensure dense concrete pouring. The hydraulic system then controls the demoulding. At the same time, it uses an automatic travel mechanism to move at a uniform speed along the track to pour concrete in sections, realizing the standardized and mechanized construction of drainage at the bottom of the tunnel side wall and cable laying space.

[0003] When the single-line ditch cable trough trolley reclaims the hydraulic rod for demoulding, each hydraulic rod in the hydraulic system adopts an independent control structure, so each hydraulic cylinder needs to be operated one by one. There is a lack of unified collaborative control logic, resulting in low operating efficiency. At the same time, improper hydraulic rod recovery sequence, that is, improper rod lifting and demoulding sequence, will lead to quality hazards such as concrete deformation and cracking. Improper control of the hydraulic system will affect the construction effect. Summary of the Invention

[0004] In order to solve the technical problem that the control effect of the hydraulic system of the single-line water ditch cable trough trolley is poor, thereby affecting the construction effect, the purpose of the present invention is to provide a single-line water ditch cable trough trolley and its hydraulic control system. The technical solution adopted is as follows:

[0005] A hydraulic control system for a single-line water ditch cable trough trolley, the system comprising:

[0006] Data acquisition module: used to obtain the mixing parameters before concrete pouring and the template parameters of the pouring template, obtain the concrete pouring speed, and obtain the pressure data of each hydraulic rod in real time after the concrete pouring starts;

[0007] Demolding pre-processing module: used to evaluate the mixing uniformity of the concrete based on the mixing parameters, and to obtain the vibration frequency of the casting form in combination with the casting speed and the formwork parameters; during the casting process, vibrate the casting formwork based on the vibration frequency until the casting is completed; and obtain the density parameters of the concrete at each hydraulic rod after the casting is completed;

[0008] Demolding control module: used to obtain the demoulding pressure abnormality parameter of each hydraulic rod at each moment after pouring is completed according to the density parameter of the concrete at each hydraulic rod and the relative deviation of the pressure data at each hydraulic rod, and obtain the demoulding priority coefficient of the corresponding hydraulic rod according to the demoulding pressure abnormality parameter and the density parameter; control the hydraulic rod to lift and demould according to the demoulding priority coefficient, the demoulding pressure abnormality parameter and the density parameter.

[0009] Furthermore, the method for obtaining the mixing uniformity includes:

[0010] The mixing parameters include at least the rotation frequency of the concrete mixer, the designed proportion of each component in the concrete, and the content of each component in each sample after the concrete is mixed;

[0011] The normalized result of the rotation frequency is used as the first uniformity parameter; the coefficient of variation of the corresponding component content in all sampled samples is weighted using the designed ratio of each component, and the weighted sum results corresponding to all components are negatively normalized to obtain the second uniformity parameter; the first uniformity parameter and the second uniformity parameter are combined to obtain the mixing uniformity.

[0012] Furthermore, the method for obtaining the vibration frequency includes:

[0013] The template parameters include at least the stiffness, elastic modulus, preset shape correction coefficient and template mass of the casting template material; the template stiffness parameters are obtained according to the stiffness, elastic modulus and preset shape correction coefficient; the structural frequency parameters are obtained based on the template stiffness parameters and the template mass;

[0014] Adding a constant 1 to the negative correlation normalized result of the mixing uniformity and performing negative correlation mapping to obtain a reverse adjustment weight, weighting the pouring speed using a preset dimension conversion factor, and then weighting the weighted result using the reverse adjustment weight to obtain a working condition frequency parameter;

[0015] The vibration frequency is obtained according to the structural frequency parameter and the operating frequency parameter in combination with the deviation therebetween.

[0016] Furthermore, according to the structural frequency parameter and the operating frequency parameter, combined with the deviation therebetween, a method for obtaining the vibration frequency includes:

[0017] The difference between the operating condition frequency parameter and the structural frequency parameter is subtracted, and the resultant difference is divided by the structural frequency parameter to obtain the frequency deviation degree; the frequency deviation degree is weighted using a preset amplitude modulation weight, and the weighted result is subtracted from 1 to obtain the vibration synergy coefficient; the operating condition frequency parameter and the structural frequency parameter are fused, and the fusion result is weighted using the vibration synergy coefficient to obtain the vibration frequency.

[0018] Furthermore, the method for obtaining the density parameter includes:

[0019] The mixing parameters also include the density of the mixed concrete; at each moment after the pouring starts, the local pressure deviation at each hydraulic rod is obtained according to the degree of deviation of the pressure data of each hydraulic rod relative to the pressure data of all hydraulic rods;

[0020] For each hydraulic rod, at each moment after the pouring begins, the vibration frequency is weighted using a preset vibration contribution weight to obtain a vibration energy contribution to the density; the local pressure deviation is weighted using a preset first negative correction weight to obtain a pressure correction to the density; the local pressure deviation and the vibration frequency are fused, and the fusion result is weighted using a preset second negative correction weight to obtain a coupling correction to the density; wherein the preset first negative correction weight is less than the preset second negative correction weight; the vibration energy contribution, the pressure correction, and the coupling correction are accumulated to obtain a density increment;

[0021] For each hydraulic rod, the density and the cumulative sum of the density increments at all times up to the completion of pouring are used as the density parameter of the concrete at the corresponding hydraulic rod after pouring is completed.

[0022] Furthermore, the method for obtaining the local pressure deviation includes:

[0023] At each moment after the pouring starts, the pressure data of each hydraulic rod is subtracted from the average of the pressure data of all hydraulic rods, and then divided by the average to obtain the local pressure deviation of each hydraulic rod.

[0024] Furthermore, the method for obtaining the abnormal demoulding pressure parameter includes:

[0025] For each hydraulic rod, at each moment after pouring is completed, the vibration sufficiency is determined according to the deviation of the density parameter relative to the preset standard density parameter, and the negative correlation normalized result of the vibration sufficiency is used as the demolding risk weight. The absolute value of the local pressure deviation is weighted using the demolding risk weight, and the weighted result is used as the demolding pressure abnormality parameter.

[0026] Furthermore, the method for obtaining the demoulding priority coefficient includes:

[0027] For each hydraulic rod, at each moment after pouring is completed, the negative correlation normalized result of the demoulding pressure abnormality parameter is used as the demoulding reference weight, the demoulding reference weight is used to weight the vibration sufficiency, and the weighted result is used as the demoulding priority coefficient.

[0028] Furthermore, the method for controlling each hydraulic rod to lift and demould comprises:

[0029] At each moment after the pouring is completed, the hydraulic rod with the largest demoulding priority coefficient and which has not been lifted is used as the hydraulic rod to be lifted. When the demoulding pressure abnormality parameter of the hydraulic rod to be lifted is less than or equal to the preset abnormality threshold, and the vibration sufficiency is greater than the preset sufficiency threshold, the hydraulic rod to be lifted is controlled to lift and demould.

[0030] A single-line water ditch cable trough trolley includes a hydraulic control system of the single-line water ditch cable trough trolley.

[0031] The present invention has the following beneficial effects:

[0032] The present invention first uses a data acquisition module to obtain mixing parameters, formwork parameters and pouring speed, and obtains pressure data at each hydraulic rod in real time, in preparation for subsequent analysis of the mixing effect of concrete, determination of vibration frequency and assessment of demolding risk; then, in the demolding pretreatment module, the mixing uniformity of the concrete is evaluated according to the mixing parameters, and the vibration frequency is determined in combination with the pouring speed and formwork parameters to vibrate the pouring formwork, thereby eliminating bubbles and compacting the concrete structure until pouring is completed, and at the same time, the density parameters of the concrete at each hydraulic rod after pouring are obtained; finally, in the demolding control module, at each moment after pouring is completed, the density parameters of the concrete at each hydraulic rod are analyzed to assess the demolding risk, and the relative deviation of the pressure data at each hydraulic rod is analyzed to assess the adhesion of the concrete to the formwork at each hydraulic rod, and the demolding risk is evaluated from the side, thereby obtaining the demolding pressure abnormality parameters at each hydraulic rod, and then obtaining the demolding priority coefficient of each hydraulic rod, and finally, combining the demolding pressure abnormality parameters and density parameters to evaluate whether the demolding requirements are met, and controlling the hydraulic rod to lift the rod for demolding. The present invention quantifies the coupling relationship between the vibration effect of concrete and the local pressure in the hydraulic rod area to quantitatively evaluate whether the concrete meets the demolding conditions, so as to automatically control the hydraulic rod to lift and demold, thereby improving the automation control effect of the hydraulic system during the construction process, and further improving the construction effect of the single-line ditch cable trough trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 A system module diagram of a hydraulic control system for a single-line water ditch cable trough trolley provided by one embodiment of the present invention;

[0035] Figure 2 A schematic diagram of a common casting template cross-sectional shape provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0036] To further illustrate the technical means and effectiveness of the present invention in achieving its intended objectives, the following, in conjunction with the accompanying drawings and preferred embodiments, describes in detail the specific implementation, structure, features, and effectiveness of a single-line water trench cable trough trolley and its hydraulic control system according to the present invention. In the following description, references to "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

[0037] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0038] The specific scheme of a single-line water ditch cable trough trolley and its hydraulic control system provided by the present invention is described in detail below with reference to the accompanying drawings.

[0039] See also Figure 1 , which shows a system module diagram of a hydraulic control system of a single-line water ditch cable trough trolley provided by an embodiment of the present invention. The system includes a data acquisition module 101, a demolding preprocessing module 102, and a demolding control module 103.

[0040] Data acquisition module 101: used to obtain the mixing parameters before concrete pouring and the template parameters of the pouring template, obtain the concrete pouring speed, and obtain the pressure data of each hydraulic rod in real time after the concrete pouring starts.

[0041] It should be noted that the working process of the single-line trench cable trough trolley, that is, the construction process of the trench cable trough, is usually built in sections, and the hydraulic control process of the trolley in each section construction process is consistent. Therefore, the embodiment of the present invention will take the construction process of any section as an example to analyze and describe the hydraulic control process of the trolley in the construction process.

[0042] In one embodiment of the present invention, first, in the construction preparation stage of the single-line water ditch cable trough trolley, which is already an existing technology, the general process is briefly described here: the casting template, such as the modular steel template, is hoisted to the trolley bracket according to the tunnel design requirements, the spatial position of the casting template is calibrated with the help of measuring instruments, and the mold release agent is evenly applied to the surface of the template, and the embedded parts are accurately positioned and fixed; then the hydraulic pump station is started to carry out a graded pressure test on the hydraulic system, and the pressure and displacement sensing devices are calibrated to ensure that the pressure holding performance of the hydraulic system meets the standards; the track system is fully inspected, the track connection components are tightened with special tools, and limit devices are installed at both ends of the track, and the stability of the trolley travel mechanism is tested to ensure that it can automatically trigger the protection mechanism when it runs to the extreme position;

[0043] Before pouring the concrete, the mixing parameters of the concrete and the formwork parameters of the casting formwork are obtained. The mixing parameters include at least the rotation frequency of the concrete mixer, the designed mix ratio of each component in the concrete, and the content of each component in each sample taken after the concrete is mixed, in preparation for the subsequent assessment of the degree of concrete mixing. The formwork parameters include at least the stiffness, elastic modulus, preset shape correction coefficient, and formwork mass of the casting formwork material, in preparation for the subsequent determination of the appropriate vibration frequency based on the casting formwork structure to vibrate the casting formwork and ensure a denser concrete structure.

[0044] Specifically, a sensor integrated in the concrete mixer, such as a photoelectric encoder, is used to collect the mixer's rotational frequency, or a set value of the concrete mixer's rotational frequency is directly obtained. Simultaneously, a design ratio of each component in the concrete (referring to the set content ratio of each component in the concrete) is determined based on relevant design data. After the concrete mixing is completed, samples are taken to obtain a number of, for example, 10 samples. Each sample is tested and analyzed to determine the content of each component, where the components include at least cement, sand, gravel, and water.

[0045] Taking any sample as an example: first, the concrete sample is dried, and the water content is determined based on the sample loss; then, the concrete sample is stirred with water and sieved to separate the gravel, sand, and cement slurry; the cement slurry is weighed after sedimentation and drying, and the cement content is determined by combining the calcination method; the sand and gravel are dried to constant weight, weighed, and the corresponding content is calculated; the content of each component is its mass percentage in the sample; the method for obtaining the content of each component in concrete is a well-known technical means and will not be repeated here;

[0046] Specifically, the stiffness, elastic modulus, mass (weight) of the casting formwork material and the preset shape correction coefficient are determined through the casting formwork design document. Since the structural properties of the casting formwork will also affect the stiffness to a certain extent, and thus affect the energy transfer of vibration, the preset shape correction coefficient is obtained as follows:

[0047] First, set the first shape parameters based on the cross-sectional shape of the casting template. Figure 2 , which shows a schematic diagram of a common casting template cross-sectional shape provided by an embodiment of the present invention; considering that the shape of the casting template will affect the force flow path, for example, when a straight line or polygonal shape is subjected to force, the load is transmitted along a straight line, and the bending stiffness is relatively large, while when an arc shape is subjected to force, the load is transmitted along a curve, which is easy to cause local bending deformation and has a low stiffness; therefore Figure 2 Among the several casting formwork sections shown in the figure, the first shape parameter of the arc type is set to 0.8, the first shape parameter of the arc containing straight line segments is set to 1, and the first shape parameter of the polygon type is set to 1.2, in preparation for the subsequent comprehensive evaluation of the casting formwork stiffness in combination with the casting formwork structure; then, considering that the larger the casting formwork cross-section, the greater its stiffness, the sum of the length and width of the minimum circumscribed rectangle of the cross-section is taken as the second shape parameter; finally, the first shape parameter is multiplied and combined with the second shape parameter to obtain the preset shape correction coefficient.

[0048] Considering that the pouring speed of concrete affects the solidification effect of concrete to a certain extent, and thus affects the demoulding control behavior of the hydraulic rod, an embodiment of the present invention further obtains the pouring speed of concrete; specifically, the pouring speed of concrete is measured at the pouring port based on an ultrasonic flowmeter, which is a well-known technical means and will not be repeated here.

[0049] It should be noted that the pouring of concrete is carried out after the concrete is mixed, and the pouring process is uniform and controllable, that is, the collected pouring speed is stable or has a small fluctuation range, and the average value is taken to obtain the pouring speed.

[0050] Furthermore, considering that during the concrete pouring process, the hydraulic rod always applies pressure to the pouring formwork to ensure precise positioning and avoid deviation of the formwork during the pouring process, and when the pouring is completed, the concrete gradually solidifies, and its bonding force to the pouring formwork will gradually decrease, and then the hydraulic rod can be controlled to lift for demoulding. Therefore, in one embodiment of the present invention, after the concrete pouring starts, the pressure data at each hydraulic rod is obtained in real time. Specifically, a pressure measuring point is set at the pouring formwork where each hydraulic rod is positioned, wherein the pressure measuring point is on the side of the pouring formwork in contact with the concrete, and a pressure sensor is arranged at each pressure measuring point, and the pressure data is collected in real time using the pressure sensor.

[0051] It should be noted that all pressure sensors collect data synchronously, that is, collect data at the same time and at the same frequency. The collection frequency is set to 10 seconds each time, that is, in subsequent embodiments, a time is determined every 10 seconds for analysis, and the implementer can also customize it.

[0052] Demolding pre-processing module 102: used to evaluate the mixing uniformity of concrete based on the mixing parameters, and to obtain the vibration frequency of the casting formwork in combination with the casting speed and formwork parameters; during the casting process, the casting formwork is vibrated based on the vibration frequency until the casting is completed; and the density parameters of the concrete at each hydraulic rod after the casting is completed are obtained.

[0053] Taking into account that during the pouring process, a large number of bubbles may be introduced if the pouring speed is too fast, which may lead to the formation of a honeycomb structure after the concrete solidifies, the attached vibrator in the trolley will continuously vibrate the pouring formwork to eliminate the bubbles introduced during pouring, so that the poured concrete is more compact and uniform; considering that vibration may affect the mixing uniformity of the concrete itself, causing segregation or stratification of the concrete, the vibration not only needs to consider the bubbles introduced by pouring, but also the uniformity of the concrete itself; at the same time, high-frequency vibration may also cause resonant deformation of the pouring formwork, thereby affecting the pouring effect; therefore, the embodiment of the present invention will first evaluate the mixing uniformity of the concrete based on the mixing parameters, and further combine the pouring speed and formwork parameters to obtain the vibration frequency of the pouring formwork; the appropriate vibration frequency will improve the structural stability of the concrete and the subsequent construction effect.

[0054] Preferably, in one embodiment of the present invention, considering that a higher rotation frequency of the mixer during concrete mixing may result in a higher degree of mixing uniformity, and considering that the content of each component in a concrete sample is analyzed, the similarity of the content of the component in different samples can be evaluated, and the coefficient of variation can help evaluate the degree of dispersion of each component in multiple samples. A larger coefficient of variation indicates that the content of the component in different samples is inconsistent, which indirectly indicates that the concrete is non-uniform. Then, weights are assigned to the designed proportions of each component in the concrete, and then a weighted sum is taken to evaluate the non-uniform characteristics of the concrete represented by all components, thereby helping to evaluate the mixing uniformity of the concrete. Based on this, a method for obtaining the mixing uniformity includes:

[0055] The normalized result of the rotation frequency is used as the first uniformity parameter; the coefficient of variation of the corresponding component content in all sampled samples is weighted using the designed ratio of each component, and the weighted sum results corresponding to all components are negatively normalized to obtain the second uniformity parameter; the first uniformity parameter and the second uniformity parameter are combined to obtain the mixing uniformity.

[0056] As an example, the rotation frequency is divided by the maximum rotation frequency of the mixer for normalization to obtain a first uniformity parameter; then, taking any component as an example, the coefficient of variation corresponding to the component content of the component in all sampled samples is calculated, and then the coefficient of variation is weighted using the design ratio of the component to obtain the weighted coefficient of variation of the component, and then the weighted coefficient of variation corresponding to all components is summed, and the sum result is mapped to the exponential function exp(-x) with the natural constant e as the base for negative correlation normalization to obtain a second uniformity parameter; then the first uniformity parameter and the second uniformity parameter are multiplied and fused to obtain the mixing uniformity.

[0057] It should be noted that the maximum rotation frequency can be determined based on the relevant design parameters of the mixer, and the coefficient of variation is also a well-known technology and will not be repeated here; in other examples, the implementer may also adopt other normalization or negative correlation normalization methods, and may also fuse the two uniform parameters by addition or weighted summation.

[0058] After obtaining the mixing uniformity of the concrete, it can be further combined with the pouring speed and formwork parameters to obtain the vibration frequency of the pouring formwork; among them, the mixing uniformity and pouring speed provide a vibration frequency reference for eliminating concrete bubbles and ensuring the stability of the concrete structure during construction, and the formwork parameters provide a vibration frequency reference for the resonant deformation angle of the material structure.

[0059] Preferably, in one embodiment of the present invention, considering the classical degree of freedom vibration frequency formula It can be seen that the natural frequency of an object is related to the stiffness and mass of the material. Therefore, the formwork stiffness can be evaluated based on the formwork parameters of the casting formwork, and then the natural frequency of the casting formwork structure, that is, the structural frequency parameter, can be evaluated in combination with the formwork quality. Considering that the faster the concrete pouring speed, the higher the vibration frequency is required to accelerate the removal of bubbles, and vice versa, it can be appropriately reduced. Uniform concrete has a low yield stress and plastic viscosity. High-frequency vibration can effectively promote slurry flow and remove bubbles, thereby improving the density of the concrete structure. However, when the degree of concrete mixing is less uniform, the vibration frequency needs to be appropriately reduced to avoid concrete segregation. Then, the appropriate vibration frequency can be evaluated in combination with the actual working conditions of the concrete. Based on this, the methods for obtaining the vibration frequency include:

[0060] Obtain template stiffness parameters based on stiffness, elastic modulus and preset shape correction coefficient; obtain structural frequency parameters based on template stiffness parameters and template mass;

[0061] The negative correlation normalization result of the mixing uniformity is added with a constant 1 and then negative correlation mapping is performed to obtain the reverse adjustment weight. The pouring speed is weighted using the preset dimension conversion factor, and the weighted result is weighted using the reverse adjustment weight to obtain the working condition frequency parameter.

[0062] The vibration frequency is obtained based on the structural frequency parameters and working condition frequency parameters combined with the deviation between them.

[0063] As an example, first calculate the structural frequency parameters: multiply and combine the stiffness, elastic modulus, and preset shape correction factor. The stiffness and elastic modulus both reflect the material stiffness properties of the casting formwork, while the preset shape correction factor reflects the structural stiffness based on the cross-sectional structural side of the casting formwork. Combining these three can comprehensively evaluate the formwork stiffness parameters of the casting formwork. Then, use the formwork stiffness parameter as the numerator, the square root of the formwork mass as the denominator, and the fractional ratio as the structural frequency parameter.

[0064] Then calculate the working condition frequency parameter: Since the value range of mixing uniformity is 0-1, negative correlation normalization is directly performed in the form of 1-U, where U is the mixing uniformity; then add 1 to the negative correlation normalization result and make the inverse of it to obtain the negative correlation mapping to obtain the reverse adjustment weight Then multiply the pouring speed by the preset dimension conversion factor, where, since the unit of pouring speed is m 3 / h, the preset dimension conversion factor is 1, and the unit is h·Hz / m 3 , the final product unit is Hz, and then the product is multiplied by the reverse adjustment weight to obtain the working condition frequency parameter; when U is larger, that is, it tends to 1, the reverse adjustment weight is 1, and at this time, full attention is paid to the pouring speed to adjust the vibration frequency; when U is smaller, that is, it tends to 0, the mixing uniformity will have a certain reverse reducing effect on the working condition frequency parameter.

[0065] After obtaining the structural frequency parameters and vibration frequency parameters, the vibration frequency can be further obtained based on the structural frequency parameters and working condition frequency parameters and the deviation therebetween;

[0066] Among them, in a preferred embodiment of the present invention, it is considered that when vibrating the casting formwork, not only the concrete structure but also the structure of the casting formwork needs to be considered. Directly integrating the two may result in a higher vibration frequency in the final setting. Therefore, when the working frequency parameter is higher than the structural frequency parameter, it is necessary to appropriately reduce the frequency to prevent high-frequency vibration from exceeding the structural bearing capacity and causing resonance deformation of the formwork. When the working frequency parameter is lower than the structural frequency parameter, the frequency can be appropriately increased to improve the quality of the concrete structure.

[0067] Based on this, the difference between the working condition frequency parameter and the structural frequency parameter is subtracted and then divided by the structural frequency parameter to obtain the degree of frequency deviation; the frequency deviation degree is weighted using the preset amplitude modulation weight, and the weighted result is subtracted from 1 to obtain the vibration synergy coefficient; the working condition frequency parameter and the structural frequency parameter are fused, and the fusion result is weighted using the vibration synergy coefficient to obtain the vibration frequency.

[0068] In the process of obtaining the above-mentioned vibration frequency, the operating frequency parameter and the structural frequency parameter are multiplied and then root-sweep operation is performed to fuse them, and then the fusion result is multiplied by the vibration synergy coefficient to obtain the vibration frequency; wherein, the vibration synergy coefficient reflects the deviation between the two frequency parameters. The smaller the deviation, the larger the vibration synergy coefficient; at the same time, the vibration synergy coefficient also plays a role in correction and adjustment. The preset amplitude modulation weight is set to 0.1, which represents the correction strength corresponding to the unit frequency deviation, that is, a 10% correction reference is provided for each unit frequency deviation; when the operating frequency parameter is higher than the structural frequency parameter, the frequency deviation degree will be greater than 0, and the final vibration synergy coefficient will be greater than 1. The part greater than 1 is the correction reference to increase the frequency; and when the operating frequency parameter is lower than the structural frequency parameter, the frequency deviation degree will be less than 0, and the final vibration synergy coefficient will be less than 1. The part less than 1 is the correction reference to reduce the frequency.

[0069] After obtaining the vibration frequency, the vibrator can be set and started to vibrate the pouring formwork based on the vibration frequency until the pouring is completed. This is an existing technical means and will not be described in detail.

[0070] Considering that the role of the vibrator is to eliminate bubbles introduced during the pouring process and ensure the structural uniformity of the concrete, that is, to ensure a good concrete density for subsequent solidification and demolding; therefore, one embodiment of the present invention further obtains the density parameters of the concrete at each hydraulic rod after the pouring is completed, thereby helping to subsequently evaluate and control the lifting and demolding of each hydraulic rod.

[0071] Preferably, in one embodiment of the present invention, the density of concrete before pouring is first taken as a basis, and the density after pouring is evaluated on this basis; considering that vibration can reduce the friction between concrete particles and enhance fluidity, which is more conducive to expelling air and filling pores, thereby increasing density, the vibration energy contribution to density can be obtained; considering that the pressure data at each hydraulic rod indirectly reflects the density of concrete, that is, when the pressure changes abnormally, it usually means that the concrete is not dense enough and has many internal voids, resulting in a decrease in the actual contact area between it and the formwork, which in turn causes a change in pressure, and thus the pressure correction amount of the density can be reversely inferred; considering that vibration may alleviate or aggravate abnormal pressure changes, it is necessary to couple the two and analyze them to comprehensively evaluate the coupling correction amount for density; based on this, the method for obtaining density parameters includes:

[0072] The mixing parameters also include the density of the mixed concrete; at each moment after the pouring begins, the local pressure deviation at each hydraulic rod is obtained based on the degree of deviation of the pressure data of each hydraulic rod relative to the pressure data of all hydraulic rods;

[0073] For each hydraulic rod, at each moment after pouring begins, the vibration frequency is weighted using a preset vibration contribution weight to obtain the vibration energy contribution to the density; the local pressure deviation is weighted using a preset first negative correction weight to obtain the pressure correction to the density; the local pressure deviation and the vibration frequency are fused, and the fusion result is weighted using a preset second negative correction weight to obtain the coupling correction to the density; wherein the preset first negative correction weight is less than the preset second negative correction weight; the vibration energy contribution, the pressure correction, and the coupling correction are accumulated to obtain the density increment;

[0074] For each hydraulic rod, the density and the cumulative sum of density increments at all times until pouring is completed are taken as the density parameter of the concrete at the corresponding hydraulic rod after pouring is completed.

[0075] As an example, the density of the concrete after mixing (when preparing to pour) is first obtained, and then the local pressure deviation at each hydraulic rod is obtained at each time point after pouring begins. Samples can be taken after mixing the concrete and before pouring, and the density can be estimated based on mass and volume. Other technical means can also be used, which are all well-known technical means and will not be repeated here.

[0076] In a preferred embodiment of the present invention, the method for obtaining the local pressure deviation includes:

[0077] At each moment after pouring begins, the pressure data of each hydraulic rod is subtracted from the mean of the pressure data of all hydraulic rods, and then divided by the mean to obtain the local pressure deviation of each hydraulic rod;

[0078] Take any hydraulic rod and any moment after pouring start as an example for analysis;

[0079] First, set the preset vibration contribution weight to 0.05. Multiply the preset vibration contribution weight by the vibration frequency to obtain the vibration energy contribution to density, that is, the contribution of the vibration energy at that moment to the increase in density. Implementers can also set the preset vibration contribution weight value by themselves. The recommended value range is 0.05 to 0.2, and the value range can also be determined by themselves based on experiments.

[0080] Then, the preset first negative correction weight is set to -0.1, and the preset first negative correction weight is multiplied by the local pressure deviation to obtain the pressure correction value of the density, that is, the side reference of the pressure at the hydraulic rod at that moment to the density; when the local pressure deviation is greater than 0 and the larger it is, the greater the adhesion of the concrete to the formwork, the lower its density is relatively, and the pressure correction value of the density is also negative; conversely, the larger the density is relatively, the positive value of the pressure correction value of the density is; implementers can also set the value of the preset first negative correction weight by themselves, and the recommended value range is -0.5 to -0.1, and they can also determine the value range by themselves;

[0081] Then, the preset second negative correction weight is set to -0.01, the local pressure deviation and the vibration frequency are multiplied and fused, and the fused product is further multiplied by the preset second negative correction weight to obtain the density coupling correction amount, that is, the influence of the coupling effect of the pressure and vibration at the hydraulic rod at that moment on the density and the side reference; wherein, the preset second negative correction weight is greater than the preset first negative correction weight to take into account that vibration may alleviate the deviation caused by local pressure concentration; implementers can also set the value of the preset second negative correction weight by themselves, and the recommended value range is -0.05 to -0.01, and the value range can also be determined by themselves;

[0082] Finally, the density increment corresponding to each hydraulic rod at each moment can be obtained; for each hydraulic rod, the density increments at all moments up to the completion of pouring are accumulated to comprehensively determine the total density increment during the pouring process, and then the total density increment is added to the density of the concrete after mixing (when ready for pouring) to obtain the density parameters of the concrete after pouring is completed.

[0083] In another embodiment of the present invention, considering that it is impossible to take samples after pouring is completed, the implementer can also evaluate the density parameters of the concrete at each hydraulic rod after pouring is completed based on ultrasonic detection means. This is already an existing technical means and will not be repeated here.

[0084] Demolding control module 103: used to obtain the demoulding pressure abnormality parameter of each hydraulic rod at each moment after pouring is completed according to the density parameter of the concrete at each hydraulic rod and the relative deviation of the pressure data at each hydraulic rod, and obtain the demoulding priority coefficient of the corresponding hydraulic rod according to the demoulding pressure abnormality parameter and the density parameter; control the hydraulic rod to lift and demould according to the demoulding priority coefficient, the demoulding pressure abnormality parameter and the density parameter.

[0085] Considering that after pouring, concrete will begin to solidify, and the density of concrete will affect the solidification effect, thus affecting demoulding; also considering that during the solidification process, if the pressure data at the hydraulic rod deviates relatively, it means that the concrete at that location may be sticking to the mold, which is not conducive to demoulding;

[0086] Therefore, in an embodiment of the present invention, at each moment after pouring is completed, based on the density parameters of the concrete at each hydraulic rod and the relative deviation of the pressure data at each hydraulic rod, the abnormal demolding pressure parameters at each hydraulic rod are obtained; the abnormal demolding pressure parameters preliminarily reflect the degree of demolding unfavorability at the corresponding hydraulic rod, and prepare for the subsequent evaluation of the demolding priority coefficient to control the demolding.

[0087] Preferably, in one embodiment of the present invention, considering that the more the density of the concrete after pouring deviates from the preset standard density parameter, the less sufficient the vibration is, and the less conducive it is to demolding after subsequent curing. Therefore, after evaluating the sufficiency of vibration, a negative correlation normalization adjustment logic is performed on it so as to be subsequently weighted in combination with the local pressure deviation. The greater the local pressure deviation, the greater the risk of mold sticking at the corresponding hydraulic rod. Therefore, the method for obtaining the abnormal demolding pressure parameter includes:

[0088] For each hydraulic rod, at each moment after pouring is completed, the vibration sufficiency is determined based on the deviation of the density parameter relative to the preset standard density parameter. The negative correlation normalized result of the vibration sufficiency is used as the demolding risk weight. The absolute value of the local pressure deviation is weighted using the demolding risk weight, and the weighted result is used as the demolding pressure abnormality parameter.

[0089] As an example, taking any hydraulic rod as an example, at each moment after the pouring is completed, the density parameter of the concrete at the hydraulic rod is used as the numerator, and the preset standard density parameter is used as the denominator. The degree of deviation is evaluated by the fractional ratio. When the fractional ratio is less than 1 and the more it deviates from 1, the lower the vibration sufficiency is and the greater the demolding risk is. Considering that the value range of vibration sufficiency is usually 0-1, negative correlation normalization is performed in the form of 1-S, where S is the vibration sufficiency, and the demolding risk weight is obtained. The smaller S is, the greater the demolding risk weight is. At the same time, the absolute value of the local pressure deviation is multiplied by the demolding risk weight to obtain the demolding pressure abnormality parameter.

[0090] It should be noted that the preset standard density parameter needs to be determined according to design requirements. After pouring is completed, the density parameter of the concrete at the hydraulic rod is unlikely to be greater than the preset standard density parameter, that is, the value range of the molecular ratio is 0-1.

[0091] After obtaining the abnormal demoulding pressure parameters, the demoulding priority coefficient of the corresponding hydraulic rod can be obtained by further combining them with the density parameters.

[0092] Preferably, in one embodiment of the present invention, considering that the greater the density, the greater the degree of vibration sufficiency, and the smaller the demoulding pressure abnormality parameter, the more conducive to demoulding, the demoulding pressure abnormality parameter can be negatively correlated with the adjustment logic to comprehensively evaluate the demoulding priority coefficient; therefore, the method for obtaining the demoulding priority coefficient includes:

[0093] For each hydraulic rod, at each moment after pouring is completed, the negative correlation normalized result of the demoulding pressure abnormality parameter is used as the demoulding reference weight, the demoulding reference weight is used to weight the vibration sufficiency, and the weighted result is used as the demoulding priority coefficient.

[0094] As an example, for each hydraulic rod, at each moment after pouring is completed, The demoulding pressure abnormality parameter P is negatively adjusted and normalized in the form of , and the demoulding reference weight is obtained; then the demoulding reference weight is multiplied by the vibration sufficiency to obtain the demoulding priority coefficient.

[0095] At each moment after pouring is completed, after obtaining the demoulding priority coefficient, the demoulding pressure abnormality parameters and density parameters can be further combined to control the hydraulic rod lifting and demoulding.

[0096] Preferably, in one embodiment of the present invention, considering that a larger demoulding priority coefficient indicates a lower demoulding risk, demoulding requirements must still be met, that is, the dual conditions of "priority sorting + threshold compliance" must be met to ensure demoulding. When the demoulding pressure abnormality parameter is less than a certain threshold and the vibration sufficiency is greater than a certain threshold, it is determined that the curing effect is good and demoulding can be performed. Therefore, the method for controlling each hydraulic rod to lift the rod for demoulding includes:

[0097] At each moment after pouring is completed, the hydraulic rod with the largest demoulding priority coefficient and not lifted is used as the hydraulic rod to be lifted. When the demoulding pressure abnormality parameter of the hydraulic rod to be lifted is less than or equal to the preset abnormality threshold, and the vibration sufficiency is greater than the preset sufficiency threshold, the hydraulic rod to be lifted is controlled to lift and demould.

[0098] As an example, since the value ranges of the demoulding pressure abnormality parameter and the vibration sufficiency are both 0-1, the preset abnormal threshold is set to 0.2, and the preset sufficiency threshold is set to 0.85; at each moment after the pouring is completed, the hydraulic rod to be lifted is first determined to judge whether the hydraulic rod to be lifted meets the conditions for lifting the rod, that is, when the demoulding pressure abnormality parameter of the hydraulic rod to be lifted is less than or equal to 0.2, and the vibration sufficiency is greater than 0.85, the hydraulic rod to be lifted is controlled to lift the rod for demoulding; otherwise, the rod is not lifted, and the hydraulic rod to be lifted is determined at the next moment and it is judged whether to lift the rod, until all hydraulic rods are lifted.

[0099] It should be noted that when calculating the demolding pressure anomaly coefficient and the demolding priority coefficient, the pressure data at each hydraulic rod is involved. In the process of judging the lifting of the rod, if the hydraulic rod is continuously lifted, the lifted hydraulic rod will not participate in the calculation of the local pressure deviation. Controlling the lifting of the hydraulic rod through the hydraulic system is an existing well-known technical means and will not be repeated. In other examples, the implementer can also define the preset abnormal threshold and the preset sufficient threshold by himself.

[0100] The present invention also provides a single-line water ditch cable trough trolley, which includes the above-mentioned hydraulic control system and can control each hydraulic rod to automatically lift the rod and demould.

[0101] In summary, the present invention first uses the data acquisition module to obtain relevant data to prepare for subsequent analysis; then analyzes the template parameters of the casting structure and the mixing state and pouring speed of the concrete in the demoulding preprocessing module, determines the vibration frequency of the casting template, and vibrates the casting template until the casting is completed, and at the same time obtains the density parameters of the concrete at each hydraulic rod after the casting is completed; finally, analyzes the demoulding pressure abnormality parameters and demoulding priority coefficients at each hydraulic rod at each moment after the casting is completed in the demoulding control module, and then controls the hydraulic rod to lift the rod for demoulding. The present invention quantifies the coupling relationship between the vibration effect of the concrete and the local pressure in the hydraulic rod area, and quantitatively evaluates whether the concrete meets the demoulding conditions, so as to automatically control the hydraulic rod to lift the demoulding, improve the automation control effect of the hydraulic control system, and thus improve the construction effect of the single-line ditch cable trough trolley.

[0102] It should be noted that the order in which the embodiments of the present invention are described above is for illustrative purposes only and does not necessarily represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0103] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

Claims

1. A hydraulic control system for a single-line water ditch cable trough trolley, characterized in that: The system comprises: Data acquisition module: used to obtain the mixing parameters before concrete pouring and the template parameters of the pouring template, obtain the concrete pouring speed, and obtain the pressure data of each hydraulic rod in real time after the concrete pouring starts; Demolding pre-processing module: used to evaluate the mixing uniformity of the concrete based on the mixing parameters, and to obtain the vibration frequency of the casting form in combination with the casting speed and the formwork parameters; during the casting process, vibrate the casting formwork based on the vibration frequency until the casting is completed; and obtain the density parameters of the concrete at each hydraulic rod after the casting is completed; Demolding control module: used to obtain the demoulding pressure abnormality parameter of each hydraulic rod at each moment after pouring is completed according to the density parameter of the concrete at each hydraulic rod and the relative deviation of the pressure data at each hydraulic rod, and obtain the demoulding priority coefficient of the corresponding hydraulic rod according to the demoulding pressure abnormality parameter and the density parameter; control the hydraulic rod to lift and demould according to the demoulding priority coefficient, the demoulding pressure abnormality parameter and the density parameter.

2. The hydraulic control system of a single-line water ditch cable trough trolley according to claim 1 is characterized in that: The method for obtaining the mixing uniformity includes: The mixing parameters include at least the rotation frequency of the concrete mixer, the designed proportion of each component in the concrete, and the content of each component in each sample after the concrete is mixed; The normalized result of the rotation frequency is used as the first uniformity parameter; the coefficient of variation of the corresponding component content in all sampled samples is weighted using the designed ratio of each component, and the weighted sum results corresponding to all components are negatively normalized to obtain the second uniformity parameter; the first uniformity parameter and the second uniformity parameter are combined to obtain the mixing uniformity.

3. The hydraulic control system of a single-line water ditch cable trough trolley according to claim 1 is characterized in that: The method for obtaining the vibration frequency includes: The template parameters include at least the stiffness, elastic modulus, preset shape correction coefficient and template mass of the casting template material; the template stiffness parameters are obtained according to the stiffness, elastic modulus and preset shape correction coefficient; the structural frequency parameters are obtained based on the template stiffness parameters and the template mass; Adding a constant 1 to the negative correlation normalized result of the mixing uniformity and performing negative correlation mapping to obtain a reverse adjustment weight, weighting the pouring speed using a preset dimension conversion factor, and then weighting the weighted result using the reverse adjustment weight to obtain a working condition frequency parameter; The vibration frequency is obtained according to the structural frequency parameter and the operating frequency parameter in combination with the deviation therebetween.

4. The hydraulic control system of a single-line water ditch cable trough trolley according to claim 3 is characterized in that: The method for obtaining the vibration frequency according to the structural frequency parameter and the working condition frequency parameter in combination with the deviation therebetween includes: The difference between the operating condition frequency parameter and the structural frequency parameter is subtracted, and the resultant difference is divided by the structural frequency parameter to obtain the frequency deviation degree; the frequency deviation degree is weighted using a preset amplitude modulation weight, and the weighted result is subtracted from 1 to obtain the vibration synergy coefficient; the operating condition frequency parameter and the structural frequency parameter are fused, and the fusion result is weighted using the vibration synergy coefficient to obtain the vibration frequency.

5. The hydraulic control system of a single-line water ditch cable trough trolley according to claim 1 is characterized in that: The method for obtaining the density parameter includes: The mixing parameters also include the density of the mixed concrete; at each moment after the pouring starts, the local pressure deviation at each hydraulic rod is obtained according to the degree of deviation of the pressure data of each hydraulic rod relative to the pressure data of all hydraulic rods; For each hydraulic rod, at each moment after the pouring begins, the vibration frequency is weighted using a preset vibration contribution weight to obtain a vibration energy contribution to the density; the local pressure deviation is weighted using a preset first negative correction weight to obtain a pressure correction to the density; the local pressure deviation and the vibration frequency are fused, and the fusion result is weighted using a preset second negative correction weight to obtain a coupling correction to the density; wherein the preset first negative correction weight is less than the preset second negative correction weight; the vibration energy contribution, the pressure correction, and the coupling correction are accumulated to obtain a density increment; For each hydraulic rod, the density and the cumulative sum of the density increments at all times up to the completion of pouring are used as the density parameter of the concrete at the corresponding hydraulic rod after pouring is completed.

6. The hydraulic control system of a single-line water ditch cable trough trolley according to claim 5, characterized in that: The method for obtaining the local pressure deviation includes: At each moment after the pouring starts, the pressure data of each hydraulic rod is subtracted from the average of the pressure data of all hydraulic rods, and then divided by the average to obtain the local pressure deviation of each hydraulic rod.

7. The hydraulic control system of a single-line water ditch cable trough trolley according to claim 5, characterized in that: The method for obtaining the abnormal demoulding pressure parameter includes: For each hydraulic rod, at each moment after pouring is completed, the vibration sufficiency is determined according to the deviation of the density parameter relative to the preset standard density parameter, and the negative correlation normalized result of the vibration sufficiency is used as the demolding risk weight. The absolute value of the local pressure deviation is weighted using the demolding risk weight, and the weighted result is used as the demolding pressure abnormality parameter.

8. The hydraulic control system of a single-line water ditch cable trough trolley according to claim 7, characterized in that: The method for obtaining the demoulding priority coefficient includes: For each hydraulic rod, at each moment after pouring is completed, the negative correlation normalized result of the demoulding pressure abnormality parameter is used as the demoulding reference weight, the demoulding reference weight is used to weight the vibration sufficiency, and the weighted result is used as the demoulding priority coefficient.

9. The hydraulic control system of a single-line water ditch cable trough trolley according to claim 7, characterized in that: The methods for controlling each hydraulic rod to lift and demould include: At each moment after the pouring is completed, the hydraulic rod with the largest demoulding priority coefficient and which has not been lifted is used as the hydraulic rod to be lifted. When the demoulding pressure abnormality parameter of the hydraulic rod to be lifted is less than or equal to the preset abnormality threshold, and the vibration sufficiency is greater than the preset sufficiency threshold, the hydraulic rod to be lifted is controlled to lift and demould.

10. A single-line water ditch cable trough trolley, characterized in that: It comprises a hydraulic control system for a single-line water ditch cable trough trolley as described in any one of claims 1 to 9.

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