Multi-point cooperative intelligent jacking apparatus and method for track slab

Abstract

A multi-point cooperative intelligent jacking apparatus and method for a track slab. The jacking apparatus comprises a jacking apparatus main machine (1), a measurement and control tablet (2) and jacking jack (3), wherein the jacking apparatus main machine (1) is connected to the measurement and control tablet (2) by means of wireless communication; the jacking apparatus main machine (1) is connected to the jacking jack (3) by means of a jack oil pipe (4); a jack placement region (14) is provided at a front end of the jacking apparatus main machine (1), such that the jacking jack (3) is stored in the jack placement region to move; and a pushing handle (11) may be provided at a rear portion of the jacking apparatus main machine (1), and a plurality of universal wheels (12) are provided at the bottom of the jacking apparatus main machine. The apparatus has the advantages of synchronization, intelligence and accuracy of a crane and a hoist apparatus for jacking the track slab, and portability and universality of an artificial hydraulic jack for jacking the track slab; and the apparatus can adapt to construction in the current terrain environment for laying the track slab, and is equipped with an intelligent measurement and control system, so that one-key starting and automatic stopping are achieved, and a jacking operation of the track slab can be precisely and conveniently completed with less manpower input.

Description

TECHNICAL FIELD OF THE INVENTIION

[0001] The invention relates to the technical field of building engineering, in particular to track slab multi-point collaborative intelligent jacking apparatus and method.BACKGROUND OF THE INVENTIION

[0002] Prefabricated track slab is a kind of prefabricated concrete component widely used in railway construction. With the acceleration of urbanization, the demand for urban rail transit construction is increasing day by day, and the application market of prefabricated track slab is also expanding. In addition, the state has given strong support for the construction of urban rail transit, and the introduction of relevant policies has also promoted the application of prefabricated track slabs. Today, prefabricated track slabs have played an important role in high-speed rail lines, subway lines, and urban rail transit lines due to their high construction efficiency, high flatness, and high stability.

[0003] Application of prefabricated track slabs in rail transit projects is increasing nowadays, some problems therefrom have arisen accordingly. After the construction of the prefabricated track slab, due to problems such as uneven or unstable lower foundation, environmental changes, and construction quality, the prefabricated track slab may sink over time, affecting driving safety and passenger comfort. At this time, it is necessary to repair and reset the sinking track slab. In this regard, the current common practice is to use cranes, cranes, manual hydraulic jacks and other methods for repair during the skylight period according to the conditions of the construction site. However, the existing methods cannot guarantee the repair and placement of prefabricated track slabs due to reasons such as heavy equipment, low efficiency, and large errors. Within the limited skylight time, the repair and placement work of prefabricated track slabs can be completed quickly and accurately.

[0004] To this end, in view of the above shortcomings, the inventor of the present invention researched and designed a multi-point collaborative intelligent jacking apparatus and method for track slab through dedicated research and design, and integrating long-term experience and achievements in related industries to overcome the above shortcomings.SUMMARY OF AN EMBODIMENT OF THE INVENTION

[0005] An object of the present invention is to provide a track slab multi-point collaborative intelligent jacking apparatus and method, which has the advantages of small size, high efficiency, intelligent collaboration, simple operation, etc., and can utilize a small amount of manual work to complete the track slab jacking work efficiently and with high precision in the skylight time.

[0006] In order to achieve the above purpose, the invention discloses a multi-point collaborative intelligent jacking method for track slab , comprising the following steps: Step 1: preparatory step in which a jacking apparatus is transported to the destination position, and four jacking jacks are respectively placed in the inner four corners of the track slab; Step 2: the jacking apparatus host starts to work, a target jacking height L n of four jacking jacks is inputted, and jacking process starts; Step 3: collecting oil pressure value P 0n of each jack when the jacking jack starts, so as to monitor oil pressure value P 1n of each jack in real time in subsequent jacking process; Step 4: calculating force value F △n of each jacking jack in real time in the jacking process, when a jacking jack is jacked to a certain height and touch lower surface of the track slab, due to the jacking obstruction of each jacking jack, the force value F △n increases, then a force threshold F threshold is set, when a force value of a jacking jack reaches the force threshold, determining that the corresponding jacking jack completes in-place work, and stopping jacking action of the jack; Step 5: repeating Step 4 for each jacking jack respectively until all jacking jacks have completed in-place stage and stop jacking, and completing overall in-place; Step 6: starting actual lifting, recording measurement values L 0n of jack displacement sensors corresponding to four jacking jacks at this moment, starting actual jacking process with which as the starting point, and the initial running speed of jacking jacks in four ways at this moment is V 0n ; Step 7: monitoring measured value L 1n of each jack displacement sensor in the jacking process in real-time, and synchronously calculating the actual jacking amount L △njacking of the corresponding point of the four jacks, for which calculation method is L △njacking = L 1n - L 0n ; combined with target jacking heights L n of jacking jacks in each way, calculating jacking progresses Per njacking of jacking jacks in each way as Per njacking = L Δnjacking L n ; according to the jacking progresses Per njacking of jacking jacks in four ways, determining whether inclination of track slab occurs due to uncooperativeness during jack jacking; if the inclination occurs, going to step 8, otherwise jumping to step 9; Step 8: after the track slab is inclined, correcting the inclination by adjusting the running speed of corresponding jacking jack; Step 9: in order to improve the control accuracy of jacking height and jacking stability, when the jacking height is close to the target jacking height, lowering speeds of each jacking jack as a whole until the target jacking height is reached smoothly; Step 10: according to the jacking progresses Per njacking of each jacking jack, determining whether there is a jack has reached the target jacking height, if Per njacking ≥ 1, in which the jack has reached the target jacking height, stopping jacking action of the corresponding jacking jack, if Per njacking <1, in which the jack has not yet reached the target jacking height, continuing jacking; Step 11: determining whether all jacks have reached the target jacking height; if so, completing the jacking work of the target track slab; if not, jumping to step 7 and continuing to perform intelligent jacking work; Step 12: starting to carry out track slab repair work after the track slab jacking is completed; Step 13: after completing the repair work of the target track slab, carrying out the process of falling back; Step 14: taking current height of the track slab as starting point, making the distance of the track slab target to fall back be L n , realizing falling back of the track slab according to the jacking trajectory; Step 15: during track slab falling back, monitoring the measured value L 1n of each jack displacement sensor in real-time, and synchronously calculating the actual falling amount L △nfalling of corresponding points of the four jacks, in which the actual falling amount L △nfalling = L 0n + L n - L 1n ; combined with the target fall height L n of each jacking jack, calculating falling progresses Per nfallnig of each jacking as Per nfalling = L Δnfalling L n ; according to the falling progresses Per nfalling of the four-way jacking jacks, determining whether inclination of track slab occurs due to uncooperativeness of jack falling, if the inclination occurs, going to step 16, if the inclination does not occur, jumping to step 17; Step 16: after the track slab is inclined, correcting the inclination by adjusting the running speed of corresponding jacking jack; Step 17: during falling back of the track slab, calculating force value F △n of each jacking jack in real time, when the jacking jack falls back to the lower surface of the track slab and touches upper surface of groove of repaired track slab, the force value F △n of the jacking jack decreases suddenly, taking the force threshold F threshold in step 4, when force value F △n of a certain jacking jack is lowered to the force threshold F threshold , determining that the corresponding jacking jack completes the fall back work, and stopping the falling back action of this jack; Step 18: determining whether all jacks have stopped falling, if so, completing falling of the target track slab, if not, going to step 15, continue the process of falling back; Step 19: After completing falling back of the track slab, setting all jacking jacks to fall back at maximum speed, and completing reset of the jacks, wherein the force value of the jacking jack in step 4 is calculated by the hydraulic oil contact surface in the jack cylinder and corresponding oil pressure value of the jack, the hydraulic oil contact surface in the jack cylinder relates to the jack production size, which is the known value, and the diameter of the contact surface is known as D, combined with real-time monitored oil pressure value P 1n ,of each jack, four-way jacks corresponds to P 11 , P 12 , P 13 , P 14 , and the real-time force change of the jack is calculated as F Δn = P 1 n − P 0 n ∗ D 2 2 ∗ π ; (1) if F △n ≥ F threshold , stopping jacking of the corresponding jack; (2) otherwise, continuing to jack, wherein inclination in step 7 is determined as following: sorting jacking progresses Per 1jacking , Per 2jacking , Per 3jacking , and Per 4jacking of the four-way jacking jacks by value, to obtain the fastest progress Per maxjacking and the slowest progress Per minjacking , then obtain maximum progress difference among four jacking jacks as following: Per Δmaxjacking = Per maxjacking − Per minjacking ; setting a maximum progress difference threshold Per △threshold ; (1) if Per △maxjacking ≥ Per △threshold , determining that the track slab is inclined, and going to step 8; (2) otherwise, determining that the track slab is not inclined, going to step 9; wherein in step 8, average progress Per average is calculated according to the real-time jacking progress of the four-way jacking jacks as Per average = Per 1 jacking + Per 2 jacking + Per 3 jacking + Per 4 jacking 4 , then the difference Per △njacking between the jacking progress of each jack and the average progress is calculated as Per △njacking = Per njacking - Per average , thus, the speed V 1n after adjustment of corresponding jacking jack 3 is calculated as V 1n = V oldn + Per △njacking * eps, wherein V oldn is the speed before the adjustment of the corresponding jack, the speed V oldn on the first adjustment is equal to the initial running speed V 0n , and eps is a coefficient for speed adjustment calculation, wherein in step 9, according to the jacking progress of the jack, a deceleration threshold Per deceleration is set, during the jacking, the jacking progresses of each jacking jack 3 are compared in real time, and when the jacking progress Per njacking ≥ Per deceleration , the deceleration process is entered, otherwise the method skips to step 7, wherein Per deceleration is the deceleration threshold, which is a fixed value, and the jacking jack whose jacking progress exceeds the value starts the deceleration process; for the jacking jack 3 that enters the deceleration process, its running speed V 1n is adjusted to V 1ndeceleration , in that V 1ndeceleration = V 1n * eps deceleration ; wherein eps deceleration is the deceleration coefficient, which is a fixed value, specific value of which is determined according to the user's choice of the level of running speed, and classified into three levels of fast, medium, and slow speeds, each level corresponds to a different deceleration coefficient; wherein the inclination in step 15 is determined as follows: the falling progresses of the four-way jacking jacks Per 1falling , Per 2falling , Per 3falling , and Per 4falling are sorted by value, fastest progress Per maxfalling and the slowest progress Per minfalling are obtained, maximum progress difference among the four jacking jacks is obtained as: Per △maxfalling = Per maxfalling - Per minfalling , and the maximum progress difference threshold Per △threshold is taken; (1) if Per △maxfalling ≥ Per △threshold , the track slab is inclined, the method skips to step 16; (2) otherwise there is no inclination, the method skips to step 17; wherein in step 16, the average progress Per average is calculated according to the real-time jacking progress Per nfalling of the four-way jacking jack 3: Per average = Per 1 falling + Per 2 falling + Per 3 falling + Per 4 falling 4 , then the difference Per △nfalling between the jacking progress for each jack and the average progress: Per Δnfalling = Per nfalling − Per average , thus the speed V 1n after adjustment of corresponding jacking jack 3 is calculated as: V 1 n = V oldn + Per Δnfalling ∗ eps , where eps is a coefficient for the speed adjustment calculation.

[0007] A jacking apparatus of a multi-point collaborative intelligent jacking method for track slab is also disclosed, comprises a jacking apparatus host, a measurement and control tablet and a jacking jack, the jacking apparatus host is connected with the measurement and control tablet through wireless communication, and the jacking apparatus host is connected to the jacking jack through a jack tubing, wherein the front end of said jacking apparatus host is provided with jack placement area to jacking jack to accommodate and move therein, and the rear part of said jacking apparatus host can be provided with push handle, and its bottom is provided with a plurality of universal wheels, wherein said jacking jack comprises jack displacement sensor, jack jacking foot, jack jacking head and jack jacking column, said jack jacking foot and jack jacking head are integrally arranged, combined with a vertical steel structure to form a structure, and the top end of said jack jacking column is connected with the jack jacking head by a screw rod.

[0008] It can be seen that the track slab multi-point collaborative intelligent jacking apparatus and method of the present invention have the following effects: 1. with the advantages of small size, high efficiency, intelligent collaboration, simple operation, etc., a small amount of labor can be used to complete the track slab jacking work efficiently and with high precision in the skylight time; 2. it has the advantages of synchronicity, intelligence, and accuracy of crane and crane equipment jacking track slabs and the portability and versatility of manual hydraulic jack jacking, and can adapt to the construction of the current track slab laying terrain environment. The apparatus is equipped with an intelligent measurement and control system, which can start and stop automatically with one key, and use less manpower investment to accurately and conveniently complete the track slab jacking operation.

[0009] The details of the present invention can be obtained by the following description and the accompanying drawings.DESCRIPTION OF THE FIGURES

[0010] Fig. 1 shows a schematic diagram of the side front of the track slab multi-point cooperative intelligent jacking apparatus of the present invention. Fig. 2 shows the side rear schematic diagram of the track slab multi-point collaborative intelligent jacking apparatus of the present invention. Fig. 3 shows the working principal diagram of the track slab multi-point collaborative intelligent jacking apparatus of the present invention. Fig. 4 shows a cross-sectional view of the structural relationship between jack and track slab of the present invention. Fig. 5 shows a top view of the structural relationship between the jack and the track slab of the present invention. Fig. 6 shows a cross-sectional view of the track slab before jacking in the tunnel of the multi-point cooperative intelligent jacking apparatus of the present invention. Fig. 7 shows a multi-point collaborative intelligent jacking flow chart of the present invention. Fig. 8 shows the multi-point collaborative intelligent reset process of the present invention. Reference of the drawings:

[0011] 1: jacking apparatus host; 11: push handle; 12: universal wheel; 13: power plug; 14: jack placement area; 15: reading area; 16: control area; 17: jack tubing interface; 18: oil level gauge; 2: measurement and control tablet; 3: jacking jack; 31: a jack displacement sensor; 32: jack jacking foot; 33: jack jacking head; 34: jack jacking column; 4: jack tubing; 5: track slab; 6: tunnel wall; 7: track slab groove.DETAILED DESCRIPTION OF AN EMBODIMENT OF THE INVENTION

[0012] Referring to Fig. 1, Fig. 2 and Fig. 3, the track slab multi-point cooperative intelligent jacking apparatus and method of the present invention are shown.

[0013] Said track slab multi-point cooperative intelligent jacking apparatus comprise jacking apparatus host 1, measurement and control tablet 2 and jacking jack 3. Said jacking apparatus host 1 and measurement and control tablet 2 can be connected through wireless communication, said jacking apparatus host 1 is connected to jacking jack 3 through jack tubing 4.

[0014] Front end of said jacking apparatus host 1 can be provided with jack placement area 14, so that jacking jack 3 can be accommodated therein for moving, the rear part of said jacking apparatus host 1 can be provided with push handle 11, bottom of which can be provided with a plurality of universal wheels 12. Before carrying out the maintenance work of track slab 5, all related devices can be carried like a cart to the position where the targeted track slab 5 is located, so as to save time and effort as well as maintenance cost. A side of said jacking apparatus host 1 is provided with a power plug 13 and control area 16, a top surface is provided with reading area 15, and front part is provided with jack tubing interface 17 and oil level gauge 18.

[0015] Since after the track slab 5 is installed on site, the surrounding and the lower part of the track slab 5 will be filled with the medium such as concrete and rubber pad, which closely fit on the periphery of the track slab 5, to form a tightly fitting track slab groove 7, as shown in Fig. 6. When the track slab 5 needs to be overhauled because of diseases such as sinking, damage, etc., it is often required to be lifted from track slab groove 7 first, during which since the track slab 5 is fitted too tightly around, slightly inclination in lifting will cause track slab 5 to be stuck in track slab groove 7 and cannot move.

[0016] The jacking jack 3 includes a jack displacement sensor 31, a jack jacking foot 32, a jack lifting head 33, and a jack lifting column 34. The jack jacking foot 32 and the jack lifting head 33 are integrally set, forming a structure together with a vertical steel component. The top end of the jack lifting column 34 is connected to the jack lifting head 33 with a screw.

[0017] Therefore, the track slab multi-point coordinated intelligent jacking apparatus according to an embodiment of the present invention monitors in real-time the jacking height, speed, and load of each jacking jack 3 through the measurement and control tablet 2, calculates the jacking trend of each jack in real-time and adjusts the speed to maintain coordination among each the jacking jacks 3, to ensure successful completion of the entire process. Referring to Figs. 7 and 8, the multi-point coordinated intelligent jacking method for track slabs according to an embodiment of the present invention includes the following steps: Step 1: preparation, in that the jacking apparatus is transported to the destination position, four jacking jacks 3 are respectively placed on the four corners of the inner side of track slab 5 (as shown in Fig. 5), and the jack jacking feet 32 of four jacking jacks 3 are extended to below of the edge of track slab 5 respectively (as shown in Fig. 4), wherein the placement position relationship between four jacking jacks 3 and track slab 5 is shown in Fig. 5. After starting jacking, jacking apparatus host 1 supplies oil to four jacking jacks 3 respectively, the jack jacking column 34 drives jack lifting head 33 to jack upwards under hydraulic drive, then jack lifting head 33 drives jack jacking foot 32 to jack upwards; Step 2: in that the jacking apparatus host 1 starts to work, the measurement and control tablet 2 can be turned on for control, and measurement and control program can running on the measurement and control tablet 2, can establish a wireless communication connection with the jacking apparatus host 1, input target jacking height L n (the four-way jacking jacks correspond to L 1 , L 2 , L 3 , L 4 respectively) of four jacking jacks 3 in the operation interface of the measurement and control program, click "start" to carry out the jacking process, and preferably perform "one-key start intelligent jacking" on the measurement and control tablet 2; wherein it can be seen from step 1 that the jack jacking foot 32 does not directly contact with the track slab 5 before jacking. There is still some distance from starting jack jacking foot 32 to track slab 5 actually starting jacking, jack jacking foot 32 needs jacking a distance first, and only after contact with track slab 5 does it start to really jack up, this stage is called the in-place stage of jacking jack 3. In this in-place stage, the jacking jack 3 is in the state of zero load, and the oil pressure of each jack is stable at this time; wherein the target jacking height refers to the height that track slab 5 is jacked, obviously, this height does not include the distance that jacking jacks 3 are jacked in the in-place stage, and the track slab 5 does not move in the in-place stage. The target jacking height L 1 , L 2 , L 3 , L 4 are the elongation differences between the end of the corresponding jacking jack 3 in place stage and the completion of the final jacking; Step 3: in that the oil pressure value P 0n of each jack (the four-way jacks correspond to P 01 , P 02 , P 03 , P 04 ) is collected when the jacking jack 3 is just started, so as to monitor the oil pressure value P 1n of each jack in real time during the subsequent jacking process (the four-way jacks correspond to P 11 , P 12 , P 13 , P 14 ). Step 4: calculating force value F △n of each jacking jack 3 in real time in the jacking process, when the jacking jack 3 are jacked to a certain height and touch lower surface of the track slab 5, due to the jacking obstruction of each jacking jack 3, the force value F △n increases, then a force threshold F threshold is set, when force value of jacking jack 3 reaches the force threshold, determining that the corresponding jacking jack 3 completes in-place work, and stopping jacking action of the jack; wherein the force value of the jacking jack 3 can be calculated by the hydraulic oil contact surface in the jack cylinder and corresponding oil pressure value of the jack, the hydraulic oil contact surface in the jack cylinder relates to the jack production size, which is the known value, and the diameter of the contact surface is known as D, combined with real-time monitored oil pressure value P 1n ,of each jack (four-way jacks corresponds to P 11 , P 12 , P 13 , P 14 ), and the real-time force change of the jack is calculated as F Δn = P 1 n − P 0 n ∗ D 2 2 ∗ π ; (1) if F △n ≥ F threshold , stopping jacking of the corresponding jack; (2) otherwise, continuing to jack, Step 5: repeating Step 4 for each jacking jack respectively until all jacking jacks 3 have completed in-place stage and stop jacking, and completing overall in-place, staring the subsequent intelligent jacking process; Step 6: in that from this step, the track slab 5 starts actual lifting, measurement values L 0n (the four-way jacks correspond to L 01 , L 02 , L 03 , L 04 ) of jack displacement sensors 31 corresponding to four jacking jacks 3 at this moment are recorded, jacking process starts with which as the starting point, and the initial running speed of jacking jacks in four ways at this moment is V 0n (the four-way jacks correspond to V 01 , V 02 , V 03 , V 04 ); Step 7: monitoring measured value L 1n (the four-way jacks correspond to L 11 , L 12 , L 13 , L 14 ) of each jack displacement sensor 31 in the jacking process in real-time, and synchronously calculating the actual jacking amount L △njacking of the corresponding point of the four jacks, for which calculation method is L Δnjacking = L 1 n − L 0 n ; combined with target jacking heights L n (the four-way jacks correspond to L 1 , L 2 , L 3 , L 4 ) of jacking jacks in each way, calculating jacking progresses Per njacking of jacking jacks in each way as Per njacking = L Δnjacking L n ; according to the jacking progresses Per njacking of jacking jacks 3 in four ways, determining whether inclination of track slab 5 occurs due to uncooperativeness of jack jacking as following: sorting jacking progresses Per 1jacking , Per 2jacking , Per 3jacking , and Per 4jacking of the four-way jacking jacks 3 by value, to obtain the fastest progress Per maxjacking and the slowest progress Per minjacking , then obtain maximum progress difference among four jacking jacks as: Per Δmaxjacking = Per maxjacking − Per minjacking ; setting a maximum progress difference threshold Per △threshold : (1) if Per △maxjacking ≥ Per △threshold , determining that the track slab is inclined, and going to step 8; (2) otherwise, determining that the track slab is not inclined, going to step 9; wherein before the track slab 5 is jacked, because of the uneven sinking, the track slab 5 may be in an inclined state, and the plate periphery has been filled with fillers such as rubber pads, a closely fitting track slab groove 7 has been formed around the track slab 5 and below, there is no gap or the gap is very small between the track slab 5 and the track slab groove 7, if the jacking of the four jacks is not coordinated, the track slab 5 may be inclined, and the track slab 5 is stuck in the track slab groove 7 because of the inclination. Therefore, in the jacking process of track slab 5, the jacking action of four jacks should be adaptively coordinated according to the initial attitude of track slab 5, and the jacking action of multiple points should be coordinated to ensure that multiple points are coordinated to jack up, so as to realize accuracy and safety in the jacking process. Step 8: after the track slab is inclined, correcting the inclination by adjusting the running speed of corresponding jacking jack; wherein the running speed of jack depends on the speed at which the jacking apparatus host 1 presses the hydraulic oil into the jack, and the hydraulic oil flow of each jack is controlled by a hydraulic solenoid proportional valve, which is determined by the opening and closing degree of the hydraulic electromagnetic proportional valve, which changes with the input control voltage. It can be seen that the running speed of the jack cannot be directly controlled, and is indirectly controlled by the input voltage of the hydraulic solenoid proportional valve. Due to factors such as the production error of the jack and the incompletely identical working pressure of the corresponding oil circuit of each jack, there is no clear conversion relationship between the input voltage value of the hydraulic solenoid proportional valve and the running speed of the jack, which greatly increases the difficulty of coordination. Therefore, in order to ensure the collaborative jacking among all jacks, a set of intelligent jacking methods for jacking jacks 3 are developed, in which the corresponding running speed is dynamically adjusted in real time according to the inclination attitude of track slab 5, wherein average progress Per average is calculated according to the real-time jacking progress of the four-way jacking jacks as Per average = Per 1 jacking + Per 2 jacking + Per 3 jacking + Per 4 jacking 4 , then the difference Per △njacking between the jacking progress of each jack and the average progress is calculated as Per △njacking = Per njacking - Per average , thus, the speed V 1n after adjustment of corresponding jacking jack 3 is calculated as V 1n = V oldn + Per △njacking * eps, wherein V oldn is the speed before the adjustment of the corresponding jack, the speed V oldn on the first adjustment is equal to the initial running speed V 0n , wherein eps is a coefficient for speed adjustment calculation, which is a fixed value, specific value of which is determined according to the user's choice of the level of running speed, and classified into three levels of fast, medium, and slow speeds, in which each level corresponds to a fixed deceleration coefficient; Step 9: in order to improve the control accuracy of jacking height and jacking stability, when the jacking height is close to the target jacking height (e.g., when the jacking height reaches a height which is 10% less than the target jacking height), speeds of each jacking jack are lowered as a whole until the target jacking height is reached smoothly; according to the jacking progress of the jack, a deceleration threshold Per deceleration is set, during the jacking, the jacking progresses of each jacking jack 3 are compared in real time, and when the jacking progress Per njacking ≥ Per deceleration , the deceleration process is entered, otherwise the method skips to step 7, wherein Per deceleration is the deceleration threshold, which is a fixed value, and the jacking jack whose jacking progress exceeds the value starts the deceleration process; for the jacking jack 3 that enters the deceleration process, its running speed V 1n is adjusted to V 1ndeceleration , in that V 1ndeceleration = V 1n * eps deceleration ; wherein eps deceleration is the deceleration coefficient, which is a fixed value, specific value of which is determined according to the user's choice of the level of running speed, and classified into three levels of fast, medium, and slow speeds, each level corresponds to a different deceleration coefficient; Step 10: according to the jacking progresses Per njacking of each jacking jack, determining whether there is a jack has reached the target jacking height; if Per njacking ≥ 1, in which the jack has reached the target jacking height, stopping jacking action of the corresponding jacking jack, if Per njacking < 1, in which the jack has not yet reached the target jacking height, continuing jacking; Step 11: determining whether all jacks have reached the target jacking height; if so, completing the jacking work of the target track slab 5, if not, jumping to step 7 and continuing to perform intelligent jacking work; Step 12: starting to carry out repair work for track slab 5 by maintenance personnel after jacking of the track slab 5 is completed; Step 13: after completing the repair work of the target track slab, carrying out the process of falling back; Step 14: when the track slab 5 falls back, because the repair work has been done in the track slab groove 7 at this time, and the influence on the height of the four corners of the track slab groove 7 is unknown, required falling back distances for the four corners of the track slab 5 respectively cannot be determined. But it is predictable that if the track slab 5 falls back according to the jacking trajectory, it does not cause inclination or stucking in the track slab groove 7, therefore, this step is to take current height of the track slab as starting point, make the distance of the track slab target to fall back be L n (four-way jacks correspond to L 1 , L 2 , L 3 , L 4 ), realizing falling back of the track slab according to the jacking trajectory; wherein when track slab 5 falls, the actual height of the four corners falling back is usually less than L n , but in order to ensure that track slab 5 falls effectively, L n is taken as target falling distance, actual falling distance of the jacking jack 3 after track slab 5 completes the falling back is less than L n , which is no longer important, and the jacking jack 3 continues to descend directly until the jack stroke returns to zero. Step 15: during track slab 5 falling back, monitoring the measured value L 1n (four-way jacks correspond to L 11 , L 12 , L 13 , L 14 ) of each jack displacement sensor 31 in real-time, and synchronously calculating the actual falling amount L △nfalling of corresponding points of the four jacks, in which the actual falling amount L △nfalling = L 0n + L n - L 1n ; combined with the target fall height L n (four-way jacks correspond to L 1 , L 2 , L 3 , L 4 ) of each jacking jack, calculating falling progresses Per nfallnig of each jacking as Per nfalling = L Δnfalling L n ; according to the falling progresses Per nfalling of the four-way jacking jacks, determining whether inclination of track slab occurs due to uncooperativeness of jack falling, as following: the falling progresses of the four-way jacking jacks Per 1falling , Per 2falling , Per 3falling , and Per 4falling are sorted by value, fastest progress Per maxfalling and the slowest progress Per minfalling are obtained, maximum progress difference among the four jacking jacks is obtained as Per Δmaxfalling = Per maxfalling − Per minfalling , the maximum progress difference threshold Per △threshold in step 7 is taken: (1) if Per △maxfalling = Per △threshold , the track slab is inclined, the method skips to step 16; (2) otherwise there is no inclination, the method skips to step 17; Step 16: after the track slab is inclined, correcting the inclination by adjusting the running speed of corresponding jacking jack, the speed adjustment is based on a rule that accelerating if the progress is too slowly, and decelerating if the progress too fast; wherein the average progress Per average is calculated according to the real-time jacking progress Per nfalling of the four-way jacking jack 3: Per average = Per 1 falling + Per 2 falling + Per 3 falling + Per 4 falling 4 , then the difference Per △nfalling between the jacking progress for each jack and the average progress: Per Δnfalling = Per nfalling − Per average , thus the speed V 1n after adjustment of corresponding jacking jack 3 is calculated as: V 1 n = V oldn + Per Δnfalling ∗ eps , where eps is a coefficient for the speed adjustment calculation, value of which is same with that defined in step 8; Step 17: during falling back of the track slab 5, calculating force value F △n of each jacking jack 3 in real time, when the jacking jack 3 falls back to the lower surface of the track slab 5 and touches upper surface of repaired track slab groove 7, the force value F △n of the jacking jack 3 decreases suddenly, taking the force threshold F threshold in step 4, when force value F △n of a certain jacking jack 3 is lowered to the force threshold F threshold , determining that the corresponding jacking jack 3 completes the falling back work, and stopping the falling back action of this jack; Step 18: determining whether all jacks have stopped falling, if so, completing one-key falling work of the target track slab 5, if not, going to step 15, continue the process of falling back; Step 19: in that so far, the four corners of the track plate 5 have been in contact with the track slab groove 7, completing the intelligent collaborative falling of the track slab 5, and then setting all jacking jacks 3 to fall back at the maximum speed until all jacking jacks 3 elongation are zeroed, and completing the jack reset.

[0018] It can be seen that the present invention has the following advantages: 1. With the advantages of small size, high efficiency, intelligent collaboration, simple operation, etc., a small amount of labor can be used to complete the track slab jacking work efficiently and with high precision in the skylight window period; 2. It has the advantages of synchronicity, intelligence, and accuracy of crane and crane equipment jacking track slabs and the portability and versatility of manual hydraulic jack jacking, and can adapt to the construction of the current track slab laying terrain environment. The equipment is equipped with an intelligent measurement and control system, which can start and stop automatically with one key, and use less manpower investment to accurately and conveniently complete the track slab jacking operation.

[0019] It is obvious that the above descriptions and descriptions are only examples and are not intended to limit the disclosure content, application or use of the present invention. Although the embodiments have been described in the embodiments and are described in the drawings, the invention is without limitation to the specific examples taught by the examples of the drawings and described in the embodiments as the best mode for the present invention to be considered as the best mode for the embodiment of the present invention, and the scope of the invention will include any embodiments that fall into the preceding description and the attached claims.

Claims

1. A multi-point collaborative intelligent jacking method for track slab, comprising the following steps: Step 1 as preparation step, in which a jacking apparatus is transported to the destination position, and four jacking jacks are respectively placed in inner four corners of the track slab; Step 2: in which the jacking apparatus host starts to work, target jacking height Ln of four jacking jacks are inputted, and jacking process starts; Step 3: collecting oil pressure value P0n of each jack when the jacking jacks start, so as to monitor oil pressure value P1n of each jack in real time in subsequent jacking process; Step 4: calculating force value F△n of each jacking jack in real time in the jacking process, in which when a jacking jack is jacked to a certain height and touch lower surface of the track slab, due to the jacking obstruction of each jacking jack, the force value F△n increases, then a force threshold Fthreshold is set, when a force value of a jacking jack reaches the force threshold, it is determined that the corresponding jacking jack completes in-place work, and jacking action of the jack is stopped; Step 5: repeating Step 4 for each jacking jack respectively until all jacking jacks have completed in-place stage and stop jacking, and completing overall in-place; Step 6 of starting actual lifting, recording measurement values L0n of jack displacement sensors corresponding to four jacking jacks at this moment, starting actual jacking process with which as the starting point, and the initial running speeds of four jacking jacks at this moment are V0n; Step 7: monitoring measured value L1n of each jack displacement sensor in the jacking process in real-time, and synchronously calculating the actual jacking amount L△njacking of the corresponding point of the four jacks, for which calculation method is L△njacking = L1n - L0n; combined with target jacking height Ln of each jacking jack, calculating jacking progresses Pernjacking of each jacking jack as Per njacking = L Δnjacking L n ; according to the jacking progresses Pernjacking of four jacking jacks, determining whether inclination of track slab occurs due to uncooperativeness during jack jacking; if the inclination occurs, going to step 8, otherwise jumping to step 9; Step 8: after the track slab is inclined, correcting the inclination by adjusting the running speed of corresponding jacking jack; Step 9: in order to improve the control accuracy of jacking height and jacking stability, when the jacking height is close to the target jacking height, lowering speed of each jacking jack as a whole until the target jacking height is reached smoothly; Step 10: according to the jacking progresses Pernjacking of each jacking jack, determining whether there is a jack has reached the target jacking height, if Pernjacking ≥ 1, in which the jack has reached the target jacking height, stopping jacking action of the corresponding jacking jack, if Pernjacking < 1, in which the jack has not yet reached the target jacking height, continuing jacking; Step 11: determining whether all jacks have reached the target jacking height; if so, completing the jacking work of the target track slab; if not, jumping to step 7 and continuing to perform intelligent jacking work; Step 12: starting to carry out repair work for the track slab after the track slab jacking is completed; Step 13: after completing the repair work for the target track slab, carrying out the process of falling back; Step 14: taking current height of the track slab as starting point, setting the target distance of the track slab to fall back as Ln, realizing falling back of the track slab according to the jacking trajectory; Step 15: during track slab falling back, monitoring the measured value L1n of each jack displacement sensor in real-time, and synchronously calculating actual falling amount L△nfalling of corresponding points of the four jacks, in which the actual falling amount L△nfalling = L0n + Ln - L1n; combined with the target falling height Ln of each jacking jack, calculating falling progresses Pernfallnig of each jacking as Per nfalling = L Δnfalling L n ; according to the falling progresses Pernfalling of four jacking jacks, determining whether inclination of the track slab occurs due to uncooperativeness of jack falling, if the inclination occurs, going to step 16, otherwise jumping to step 17; Step 16: after the track slab is inclined, correcting the inclination by adjusting the running speed of corresponding jacking jack; Step 17: during falling back of the track slab, calculating force value F△n of each jacking jack in real time, when the jacking jack falls back to the lower surface of the track slab and touches upper surface of repaired track slab groove, the force value F△n of the jacking jack decreases suddenly, taking the force threshold Fthreshold in step 4, when force value F△n of a certain jacking jack is lowered to the force threshold Fthreshold, determining that the corresponding jacking jack completes the fall back work, and stopping the falling back action of the jack; Step 18: determining whether all jacks have stopped falling, if so, completing falling of the target track slab, if not, going to step 15, continue the process of falling back; Step 19: After completing falling back of the track slab, setting all jacking jacks to fall back at maximum speed, and completing reset of the jacks,2. The multi-point collaborative intelligent jacking method for track slab as described in Claim 1, wherein the force value of the jacking jack in step 4 is calculated by the hydraulic oil contact surface in the jack cylinder and corresponding oil pressure value of the jack, the hydraulic oil contact surface in the jack cylinder relates to the jack production size, which is known, and the diameter of the contact surface is known as D, combined with real-time monitored oil pressure value P1n,of each jack, four jacks corresponds to P11, P12, P13, P14, and the real-time force change of the jack is calculated as F Δn = P 1 n − P 0 n ∗ D 2 2 ∗ π ; (1) if F△n ≥ Fthreshold, stopping jacking of the corresponding jack; (2) otherwise, continuing to jack.

3. The multi-point collaborative intelligent jacking method for track slab as described in Claim 1, wherein in step 7 the inclination is determined as following: sorting jacking progresses Per1jacking, Per2jacking, Per3jacking, and Per4jacking of the four-way jacking jacks by values, obtaining fastest progress Permaxjacking and slowest progress Perminjacking, then obtaining maximum progress difference among four jacking jacks as following: Per Δmaxjacking = Per maxjacking − Per minjacking ; setting a maximum progress difference threshold Per△threshold; (1) if Per△maxjacking ≥ Per△threshold, determining that the track slab is inclined, and going to step 8; (2) otherwise, determining that the track slab is not inclined, going to step 9.

4. The multi-point collaborative intelligent jacking method for track slab as described in Claim 1, wherein in step 8, average progress Peraverage is calculated according to the real-time jacking progresses of the four jacking jacks as Per average = Per 1 jacking + Per 2 jacking + Per 3 jacking + Per 4 jacking 4 , then the difference Per△njacking between the jacking progress of each jack and the average progress is calculated as Per△njacking = Pernjacking - Peraverage, thus, the speed V1n after adjustment of corresponding jacking jack is calculated as V1n = Voldn + Per△njacking * eps, wherein Voldn is the speed before the adjustment of the corresponding jack, the speed Voldn on the first adjustment is equal to the initial running speed V0n, and eps is a coefficient for speed adjustment calculation.

5. The multi-point collaborative intelligent jacking method for track slab as described in Claim 1, wherein in step 9, according to the jacking progress of the jack, a deceleration threshold Perdeceleration is set, during the jacking, the jacking progresses of each jacking jack are compared in real time, and when the jacking progress Pernjacking ≥ Per deceleration, the deceleration process is entered, otherwise the method skips to step 7, wherein Perdeceleration is the deceleration threshold, which is a fixed value, and the jacking jack whose jacking progress exceeds the value starts the deceleration process; for the jacking jack that enters the deceleration process, its running speed V1n is adjusted to V1ndeceleration, in that V1ndeceleration = V1n * epsdeceleration; wherein epsdeceleration is the deceleration coefficient, which is a fixed value, specific value of which is determined according to the user's choice of the level of running speed, and classified into three levels of fast, medium, and slow speeds, each level corresponds to a different deceleration coefficient.

6. The multi-point collaborative intelligent jacking method for track slab as described in Claim 1, wherein in step 15, the inclination is determined as following: the falling progresses of the four-way jacking jacks Per1falling, Per2falling, Per3falling, and Per4falling are sorted by value, fastest progress Permaxfalling and the slowest progress Perminfalling are obtained, maximum progress difference among the four jacking jacks is obtained as Per△maxfalling = Permaxfalling - Perminfalling, and the maximum progress difference threshold Per△threshold is taken; (1) if Per△maxfalling ≥ Per△threshold, the track slab is inclined, the method skips to step 16; (2) otherwise there is no inclination, the method skips to step 17;7. The multi-point collaborative intelligent jacking method for track slab as described in Claim 1, wherein in step 16, the average progress Peraverage is calculated according to the real-time jacking progresses Pernfalling of the four jacking jacks: Per average = Per 1 falling + Per 2 falling + Per 3 falling + Per 4 falling 4 , then the difference Per△nfalling between the jacking progress for each jack and the average progress: Per Δnfalling = Per nfalling − Per average , thus the speed V1n after adjustment of corresponding jacking jack is calculated as: V 1 n = V oldn + Per Δnfalling ∗ eps , where eps is a coefficient for the speed adjustment calculation.

8. A jacking apparatus of a multi-point collaborative intelligent jacking method for track slab as described in any one of Claims 1 to 7, comprising a jacking apparatus host, a measurement and control tablet and the jacking jacks, the jacking apparatus host is connected with the measurement and control tablet through wireless communication, and the jacking apparatus host is connected to the jacking jacks through a jack tubing, wherein the front end of said jacking apparatus host is provided with jack placement area for jacking jack to be accommodated and move therein, and the rear part of said jacking apparatus host can be provided with push handle, and its bottom is provided with a plurality of universal wheels,9. The jacking apparatus of a multi-point collaborative intelligent jacking method for track slab as described in Claim 8, wherein said jacking jack comprises a jack displacement sensor, a jack jacking foot, a jack jacking head and a jack jacking column, said jack jacking foot and jack jacking head are integrally arranged, combined with a vertical steel structure to form a structure, wherein top end of said jack jacking column is connected with the jack jacking head by a screw rod.

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