Pipe blockage detection and primary treatment system for wheel type concrete wet spraying robot

Abstract

The utility model relates to a pipe blockage detection and primary treatment system for a wheel type concrete wet spraying robot, which comprises an oil tank, a first electromagnetic directional valve, a second electromagnetic directional valve, a first tilt cylinder, a second tilt cylinder, a first main cylinder and a second main cylinder, and a first pressure sensor is connected onto an output pipeline of the oil tank; the pumping hydraulic system is connected with a concrete conveying pipeline, and a concrete pipeline pressure detection unit is arranged on the concrete conveying pipeline; the first pressure sensor, the concrete pipeline pressure detection unit and the position detection unit are respectively connected with a communication module and are connected with a control system through the communication module; the output end of the control system is connected with the electrical system, the first electromagnetic reversing valve and the second electromagnetic reversing valve. According to the utility model, blockage detection is realized, the first electromagnetic directional valve and the second electromagnetic directional valve are controlled in combination with the pumping hydraulic system to realize alternate work of the positive / negative pump, and a blocked pipeline is dredged.

Description

Technical Field

[0001] This utility model relates to the field of wet spraying equipment, specifically to a pipe blockage detection and primary treatment system for a wheeled concrete wet spraying robot. Background Technology

[0002] During the transportation of concrete from the mixing plant to the wet spraying site, changes in concrete performance parameters and slump may occur, which can lead to pipe blockage during concrete spraying operations. If the blockage is not detected in time, it will become more severe when the forward pump is working. Reverse pumping cannot solve the problem, and the machine must be stopped for cleaning, increasing the workload, wasting sprayed concrete, and reducing spraying efficiency.

[0003] Existing wheeled concrete wet spraying robots are centrally controlled by a single-chip microcomputer, remotely operated, and highly automated. To solve the problem of pipe blockage, it is necessary to monitor the pressure parameters inside the pipe in real time, and then use alternating forward and reverse pumps to unclog the pipe.

[0004] Therefore, there is an urgent need for a system for detecting and treating pipe blockages using a wheeled concrete wet spraying robot, which can detect and clear pipe blockages. Summary of the Invention

[0005] This invention addresses the problem of pipe blockage during spraying in existing wheeled wet concrete spraying robots by proposing a pipe blockage detection and primary treatment system for wheeled wet concrete spraying robots. The system utilizes a first pressure sensor to detect the hydraulic pressure of the pumping hydraulic system and a concrete pipe pressure detection unit to detect the pressure in the concrete pipe, thus enabling blockage detection. Furthermore, by controlling the first and second electromagnetic directional valves within the pumping hydraulic system, alternating forward and reverse pumping operations are achieved to clear the blocked pipe.

[0006] To achieve the above objectives, this utility model proposes a pipe blockage detection and primary treatment system for a wheeled concrete wet spraying robot, including a pumping hydraulic system, an electrical system, and a control system. The pumping hydraulic system includes an oil tank, a first electromagnetic reversing valve, a second electromagnetic reversing valve, a first swing cylinder, a second swing cylinder, a first main cylinder, and a second main cylinder. The oil inlet of the second electromagnetic reversing valve is connected to the oil tank, and the oil outlet of the second electromagnetic reversing valve is connected to the rodless chamber of the first main cylinder and the second main cylinder, respectively. The rod chambers of the first main cylinder and the second main cylinder are connected to each other. A position detection unit is provided corresponding to the first main cylinder and the second main cylinder. A first pressure sensor is connected to the output pipe of the oil tank.

[0007] The pumping hydraulic system is connected to a concrete conveying pipeline, and a concrete pipeline pressure detection unit is installed on the concrete conveying pipeline.

[0008] The first pressure sensor, the concrete pipe pressure detection unit, and the position detection unit are each connected to a communication module. The first pressure sensor, the concrete pipe pressure detection unit, and the position detection unit are connected to the control system through the communication module. The output of the control system is connected to the electrical system, the first electromagnetic reversing valve, and the second electromagnetic reversing valve.

[0009] Furthermore, the position detection unit includes a first sensing plate, a second sensing plate, a first proximity switch, and a second proximity switch. The first sensing plate is fixed to the piston extension end of the first master cylinder, and the first proximity switch is fixedly set at the maximum stroke position of the piston of the first master cylinder.

[0010] The second sensing plate is fixed to the piston extension end of the second master cylinder, and the second proximity switch is fixedly set at the maximum stroke position of the piston of the second master cylinder;

[0011] Both the first proximity switch and the second proximity switch are connected to the control system via the communication module.

[0012] The position detection unit detects the stroke of the first master cylinder and the second master cylinder. The first master cylinder and the second master cylinder are interlocked to obtain the current pumping state. The system then controls the first solenoid directional valve and the second solenoid directional valve to work. By changing the working sequence of the first swing cylinder, the second swing cylinder, the first master cylinder and the second master cylinder, positive pump control and reverse pump control are achieved.

[0013] Furthermore, the concrete pipe pressure detection unit includes a first piston, a force transmission spring, a second piston, a cylinder, and a second pressure sensor;

[0014] The cylinder is a cylindrical structure with one side open and the inside hollow. A first piston and a second piston are slidably arranged inside the cylinder. The first piston is above the second piston and a force transmission spring is arranged between the first piston and the second piston. The force transmission spring is fixed to the first piston and the second piston respectively. A circular through hole is opened at the upper end of the cylinder. Hydraulic oil is arranged in the cavity between the cylinder and the first piston. The first piston is sealed to the cylinder. A second pressure sensor is fixedly connected to the upper part of the cylinder.

[0015] The concrete conveying pipeline is equipped with a detection pipe, which is connected to the cylinder flange.

[0016] The pressure inside concrete pipes is difficult to detect directly using pressure sensors. Therefore, a concrete pipe pressure detection unit is installed. A second piston collects the pressure inside the pipe. When the second piston displaces, the pressure is transmitted to the first piston via a force-transmitting spring. The first piston then displaces, compressing the hydraulic oil. The second pressure sensor then detects the oil pressure in the hydraulic chamber. When the pressure inside the pipe disappears, the pressure transmitted by the second piston also disappears, the hydraulic oil flows back, the first piston displaces, causing the second piston to displace as well, and the concrete pipe pressure detection unit resets.

[0017] Furthermore, the number of detection tubes is multiple, and the detection tubes are installed at the outlet position of the concrete conveying pipeline;

[0018] The concrete conveying pipeline is connected to a pumping hose, and the detection tube is also set in front of and behind the connection between the pumping hose and the concrete conveying pipeline.

[0019] Corresponding to the detection tube, there are multiple concrete pipe pressure detection units.

[0020] Setting up multiple concrete pipe pressure testing units to test multiple points helps improve the accuracy of pipe blockage detection.

[0021] Furthermore, the communication module includes a wired communication module and a wireless communication module, wherein the wireless communication module includes one or more combinations of WiFi module, LoRa module, Bluetooth module, and RFID module.

[0022] Furthermore, the control system includes a microcontroller and multiple optocoupler drive units. The microcontroller is communicatively connected to a wireless communication module, and the microcontroller is connected to a remote controller via the wireless communication module.

[0023] The output terminal of the microcontroller is connected to the input terminals of multiple optocoupler driving units, and the output terminals of the multiple optocoupler driving units are respectively connected to the control coils of the first electromagnetic directional valve and the second electromagnetic directional valve.

[0024] An embedded system is adopted, which directly uses the microcontroller of the wheeled concrete wet spraying robot for automatic control. This facilitates system control, and the circuit structure is simple and the modification cost is low.

[0025] The beneficial effects of this utility model through the above technical solution are as follows:

[0026] This utility model enables the detection and unblocking control of pipeline blockages. When a pipeline becomes blocked, the pressure in the hydraulic line rises to the safety valve's set pressure value. Simultaneously, the pressure in the concrete conveying pipeline undergoes significant changes, with the pressure increasing in front of the blockage and approaching zero behind it. To address this, a first pressure sensor is installed to monitor the pressure in the hydraulic line in real time, and a concrete pipeline pressure detection unit is installed to monitor the pressure inside the concrete pipe. When both detected values ​​meet the pressure conditions for a blockage, the control system controls the first and second electromagnetic directional valves to perform several forward and reverse pumping cycles, i.e., multiple material intake and pushing operations, until the blockage is resolved. During this process, a position detection unit monitors the pumping status, enabling continuous wet spraying operations over a long period.

[0027] This utility model uses a wheeled concrete wet spraying robot with its own control system for blockage detection and unblocking control. It has a high degree of automation and improves spraying efficiency and reduces labor intensity compared to the existing method of relying on workers to disassemble pipelines and clean blockages. It can also monitor pipelines in real time and has good stability. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of a pipe blockage detection and primary treatment system for a wheeled concrete wet spraying robot according to this utility model.

[0029] Figure 2 This is a schematic diagram of the concrete pipeline pressure detection unit of a wheeled concrete wet spraying robot for pipe blockage detection and primary treatment system according to the present invention.

[0030] Figure 3 This is a microcontroller circuit diagram of a pipe blockage detection and primary treatment system for a wheeled concrete wet spraying robot according to this utility model.

[0031] Reference numerals: 1 is the first electromagnetic directional valve, 2 is the first electromagnetic directional valve, 3 is the first master cylinder, 4 is the second master cylinder, 5 is the first pressure sensor, 6 is the concrete conveying pipe, 7 is the communication module, 8 is the first sensing plate, 9 is the second sensing plate, 10 is the first proximity switch, 11 is the second proximity switch, 12 is the first piston, 13 is the force transmission spring, 14 is the second piston, 15 is the cylinder, 16 is the second pressure sensor, 17 is the detection tube, 18 is the microcontroller, 19 is the optocoupler drive unit, and 20 is the remote controller. Detailed Implementation

[0032] Example 1

[0033] like Figures 1-3As shown, a system for detecting and treating pipe blockage in a wheeled concrete wet spraying robot includes a pumping hydraulic system, an electrical system, and a control system. The pumping hydraulic system includes an oil tank, a first electromagnetic directional valve 1, a second electromagnetic directional valve 2, a first swing cylinder, a second swing cylinder, a first main cylinder 3, and a second main cylinder 4. The oil inlet of the second electromagnetic directional valve 2 is connected to the oil tank, and the oil outlet of the second electromagnetic directional valve 2 is connected to the rodless chambers of the first main cylinder 3 and the second main cylinder 4, respectively. The rod chambers of the first main cylinder 3 and the second main cylinder 4 are connected to each other. Position detection units are provided corresponding to the first main cylinder 3 and the second main cylinder 4. A first pressure sensor 5 is connected to the output pipe of the oil tank.

[0034] The pumping hydraulic system is connected to a concrete conveying pipeline 6, and a concrete pipeline pressure detection unit is installed on the concrete conveying pipeline 6.

[0035] The first pressure sensor 5, the concrete pipe pressure detection unit, and the position detection unit are each connected to a communication module 7. The first pressure sensor 5, the concrete pipe pressure detection unit, and the position detection unit are connected to the control system through the communication module 7. The output of the control system is connected to the electrical system, the first electromagnetic reversing valve 1, and the second electromagnetic reversing valve 2.

[0036] The position detection unit includes a first sensing plate 8, a second sensing plate 9, a first proximity switch 10, and a second proximity switch 11. The first sensing plate 8 is fixed to the piston extension end of the first master cylinder 3, and the first proximity switch 10 is fixedly set at the maximum stroke position of the piston of the first master cylinder 3.

[0037] The second sensing plate 9 is fixed to the piston extension end of the second master cylinder 4, and the second proximity switch 11 is fixedly set at the maximum stroke position of the piston of the second master cylinder 4.

[0038] Both the first proximity switch 10 and the second proximity switch 11 are connected to the control system via the communication module 7.

[0039] The concrete pipe pressure detection unit includes a first piston 12, a force transmission spring 13, a second piston 14, a cylinder 15, and a second pressure sensor 16.

[0040] The cylinder 15 is a cylindrical structure with one side open and the inside hollow. A first piston 12 and a second piston 14 are slidably arranged inside the cylinder 15. The first piston 12 is above the second piston 14, and a force transmission spring 13 is arranged between the first piston 12 and the second piston 14. The force transmission spring 13 is fixed to the first piston 12 and the second piston 14 respectively. A circular through hole is opened at the upper end of the cylinder 15. Hydraulic oil is arranged in the cavity between the cylinder 15 and the first piston 12. A second pressure sensor 16 is fixedly connected to the upper part of the cylinder 15.

[0041] The concrete conveying pipeline 6 is equipped with a detection pipe 17, which is connected to the flange of the cylinder 15.

[0042] The number of detection tubes 17 is multiple, and the detection tubes 17 are set at the outlet position of the concrete conveying pipe 6;

[0043] The concrete conveying pipeline 6 is connected to a pumping hose, and the detection pipe 17 is also set in front of and behind the connection position between the pumping hose and the concrete conveying pipeline 6.

[0044] Corresponding to the detection tube 17, there are multiple concrete pipe pressure detection units.

[0045] The communication module 7 includes a wired communication module and a wireless communication module. The wireless communication module includes one or more combinations of WiFi, LoRa, Bluetooth, and RFID modules.

[0046] The control system includes a microcontroller 18 and multiple optocoupler drive units 19. The microcontroller 18 is communicatively connected to a wireless communication module and is connected to a remote controller 20 through the wireless communication module.

[0047] The output terminal of the microcontroller 18 is connected to the input terminals of multiple optocoupler drive units 19, and the output terminals of the multiple optocoupler drive units 19 are respectively connected to the control coils of the first electromagnetic directional valve 1 and the second electromagnetic directional valve 2.

[0048] In this embodiment, the communication module 7 is a wireless communication module, specifically a LoRa module. The first pressure sensor 5 communicates wirelessly with the microcontroller 18 via the LoRa module, and the microcontroller 18 communicates wirelessly with the remote controller 20 via the LoRa module. Three concrete pipe pressure detection units are set on the concrete conveying pipe 6, that is, there are three second pressure sensors 16. All three second pressure sensors 16 are equipped with LoRa modules, and the second pressure sensors 16 communicate wirelessly with the microcontroller 18 via the LoRa modules.

[0049] To improve operational accuracy, a maximum hydraulic pressure threshold of 10 MPa is programmed into the microcontroller 18, and a maximum pipeline pressure threshold of 6 MPa is also programmed. When the first pressure sensor 5 detects a pressure of 10 MPa in the hydraulic pipeline of the pumping hydraulic system, and one of the three second pressure sensors 16 detects a value ≥ 6 MPa, it indicates that the concrete delivery pipeline is blocked.

[0050] In this embodiment, the pipeline is cleared by alternating five forward and five reverse pumping cycles. When a blockage occurs, the microcontroller 18 controls...

[0051] The coils of the first electromagnetic reversing valve 1 and the second electromagnetic reversing valve 2 are turned on in a forward pumping sequence. Each time the forward pumping occurs, the first proximity switch 10 and the second proximity switch 11 send a level signal to the microcontroller 18 in sequence. After receiving the level signals from the five first proximity switches 10 and 11 in sequence, the microcontroller 18 controls the coils of the first electromagnetic reversing valve 1 and the second electromagnetic reversing valve 2 to be turned on in a reverse pumping sequence. At this time, the second proximity switch 11 sends a level signal first, followed by the first proximity switch 10. After receiving the level signals from the five second proximity switches 11 and the first proximity switch 10 in sequence, the microcontroller 18 again controls the coils of the first electromagnetic reversing valve 1 and the second electromagnetic reversing valve 2 to be turned on in a forward pumping sequence. This cycle continues until the value detected by the first pressure sensor 5 is less than 10 MPa, and the values ​​detected by the three second pressure sensors 16 are all less than 6 MPa, indicating that the pipeline is cleared.

[0052] The single-chip microcomputer 18 controls the pumping hydraulic system and electrical system to continue the shotcreting operation.

[0053] During operation, staff can use remote control 20 to check the pressure values ​​of the hydraulic lines and the concrete delivery pipeline.

[0054] The embodiments described above are merely preferred embodiments of this utility model and are not intended to limit the scope of implementation of this utility model. Therefore, all equivalent changes or modifications made to the structure, features and principles described in the patent claims of this utility model should be included within the scope of the patent application of this utility model.

Claims

1. A blocked pipe detection and primary processing system for a wheeled concrete wet shotcrete robot, comprising a pumping hydraulic system, an electrical system and a control system, characterized in that, The pumping hydraulic system comprises an oil tank, a first electromagnetic reversing valve (1), a second electromagnetic reversing valve (2), a first swing cylinder, a second swing cylinder, a first main cylinder (3) and a second main cylinder (4), the oil inlet of the second electromagnetic reversing valve (2) is connected to the oil tank, the oil outlets of the second electromagnetic reversing valve (2) are respectively connected to the rodless cavities of the first main cylinder (3) and the second main cylinder (4), the rod cavities of the first main cylinder (3) and the second main cylinder (4) are connected to each other, position detection units are arranged corresponding to the first main cylinder (3) and the second main cylinder (4), and a first pressure sensor (5) is connected to the output pipeline of the oil tank; The pumping hydraulic system is connected to a concrete conveying pipeline (6), and a concrete pipeline pressure detection unit is arranged on the concrete conveying pipeline (6); The first pressure sensor (5), the concrete pipeline pressure detection unit and the position detection units are respectively connected to a communication module (7), the first pressure sensor (5), the concrete pipeline pressure detection unit and the position detection units are connected to a control system through the communication module (7), and the output end of the control system is connected to an electrical system, the first electromagnetic reversing valve (1) and the second electromagnetic reversing valve (2).

2. A pipe blockage detection and primary processing system for a wheeled concrete wet spraying robot according to claim 1, characterized in that, The position detection unit comprises a first induction plate (8), a second induction plate (9), a first proximity switch (10) and a second proximity switch (11), the first induction plate (8) is fixed to the piston extension end of the first main cylinder (3), and the first proximity switch (10) is fixedly arranged at the maximum stroke position of the piston of the first main cylinder (3); The second induction plate (9) is fixed to the piston extension end of the second main cylinder (4), and the second proximity switch (11) is fixedly arranged at the maximum stroke position of the piston of the second main cylinder (4); The first proximity switch (10) and the second proximity switch (11) are connected to the control system through the communication module (7).

3. A pipe blockage detection and primary processing system for a wheeled concrete wet shotcrete robot according to claim 1, characterized in that, The concrete pipeline pressure detection unit comprises a first piston (12), a force transmission spring (13), a second piston (14), a cylinder body (15) and a second pressure sensor (16); The cylinder body (15) is a cylindrical structure with one side open and a hollow interior, the first piston (12) and the second piston (14) are slidably arranged in the interior of the cylinder body (15), the first piston (12) is above the second piston (14), the force transmission spring (13) is arranged between the first piston (12) and the second piston (14), the force transmission spring (13) is fixed to the first piston (12) and the second piston (14), respectively, a circular through hole is formed in the upper end of the cylinder body (15), hydraulic oil is arranged in the cavity between the cylinder body (15) and the first piston (12), and the second pressure sensor (16) is fixedly connected to the upper part of the cylinder body (15); The concrete conveying pipeline (6) is provided with a detection pipe (17), and the detection pipe (17) and the cylinder body (15) are flange-connected.

4. A pipe blockage detection and primary processing system for a wheeled concrete wet shotcrete robot according to claim 3, characterized in that, The number of the detection pipes (17) is plural, and the detection pipes (17) are arranged at the outlet position of the concrete conveying pipeline (6). The concrete conveying pipeline (6) is connected with a pumping hose, and a detection tube (17) is further arranged in front of and behind the connection position of the pumping hose and the concrete conveying pipeline (6); Corresponding to the detection tube (17), the number of the concrete pipeline pressure detection units is multiple.

5. A pipe blockage detection and primary processing system for a wheeled concrete wet shotcrete robot according to claim 1, characterized in that, The communication module (7) comprises a wired communication module and a wireless communication module, and the wireless communication module comprises one or more combinations of a WiFi module, a LoRa module, a Bluetooth module and an RFID module.

6. A pipe blockage detection and primary processing system for a wheeled concrete wet shotcrete robot according to claim 2, characterized in that, The control system comprises a single-chip microcomputer (18) and multiple optocoupler driving units (19), the wireless communication module is communicatively connected to the single-chip microcomputer (18), and the single-chip microcomputer (18) is connected with a remote controller (20) through the wireless communication module. The output end of the single-chip microcomputer (18) is connected to the input end of the multiple optocoupler driving units (19), and the output end of the multiple optocoupler driving units (19) is respectively connected to the control coil of the first electromagnetic reversing valve (1) and the second electromagnetic reversing valve (2).

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