CN111810376B

CN111810376B - Grouting device, control system and method

Info

Publication number: CN111810376B
Application number: CN202010800899.0A
Authority: CN
Inventors: 李正西; 郑小明; 潘祥
Original assignee: Fujian Xiaxing Heavy Machinery Co ltd
Current assignee: Fujian Xiaxing Heavy Machinery Co ltd
Priority date: 2020-08-11
Filing date: 2020-08-11
Publication date: 2022-09-13
Anticipated expiration: 2040-08-11
Also published as: CN111810376A

Abstract

The application relates to the technical field of grouting, in particular to a grouting device, a control system and a method. The grouting device is simultaneously provided with a slurry sucking port and a slurry injecting and discharging port, the opening and closing states of the slurry sucking port and the slurry injecting and discharging port are switched under the control of a linkage structure and a driving assembly, so that the opening and closing states of the slurry sucking port and the slurry injecting and discharging port are combined with a piston driven by a power assembly to reciprocate along the cavity, the cavity can suck slurry from the outside through the slurry sucking port and store the slurry in the cavity conveniently, then the slurry is injected and discharged to a construction area through the slurry injecting and discharging port, and the operation efficiency of the whole grouting process is effectively improved; the grouting control system controls and drives the execution module to complete corresponding operations according to the acquired data, so that the grouting device can be effectively controlled to complete grouting operation, the automation level is high, and the grouting operation efficiency can be improved; the grouting control method has simple steps, can conveniently drive the grouting device to finish the actions of sucking the grout, injecting and discharging the grout or stopping the work, and can effectively improve the grouting work efficiency of the grouting device.

Description

Grouting device, control system and method

Technical Field

The application relates to the technical field of grouting, in particular to a grouting device, a control system and a method.

Background

Grouting is a basic project which presses the slurry with fluidity and gelling property into the building objects such as bridges, mines, tunnels and the like or pipe holes or gaps in the stratum, and after a certain time, the slurry is coagulated and hardened to form a whole with the building objects and the like, thereby achieving the project purposes of seepage prevention, consolidation and reinforcement. Grouting operation is generally completed by a grouting device.

The partial grouting device utilizes a plunger pump structure, takes compressed oil or compressed air as a power source, and utilizes a hydraulic cylinder or a cylinder and a grouting cylinder to have a larger action area ratio, so that the grouting cylinder can generate higher injection pressure by using lower pressure.

The existing grouting device generally comprises a cavity, a piston arranged in the cavity and a power assembly which penetrates through the cavity and is connected with the piston; one end of the cavity far away from the power component is provided with a pulp opening. When the grouting device is used, when the power assembly drives the piston to move in the direction away from the grout opening, the grouting device sucks grout from the grout opening, and the cavity close to the grout opening stores the grout; when the power assembly drives the piston to move towards the grout opening, the grouting device injects and discharges grout stored in the cavity to a construction area from the grout opening.

With respect to the related art among the above, the inventors consider that the following drawbacks exist: a grouting device with a piston structure is adopted between grouting, and grout is required to be sucked firstly and then injected and discharged to a construction area; obviously, if the single-cavity reciprocating pump is adopted, the grouting device needs to be continuously and repeatedly moved to suck and discharge the grout, and the construction process is complicated.

Disclosure of Invention

In order to improve grouting operation efficiency, the application provides a grouting device, a control system and a method.

In a first aspect, the application provides a grouting device, adopts following technical scheme:

a grouting device comprises a cavity, a piston arranged in the cavity and a power assembly penetrating through the cavity and connected with the piston; one end of the cavity, which is far away from the power assembly, is provided with a slurry suction port and a slurry injection and discharge port; a switching mechanism is arranged between the slurry suction port and the slurry injection and discharge port and is positioned on one side of the piston, which is far away from the power assembly;

the switching mechanism comprises a baffle plate, a rotating rod, a linkage rod frame and a driving assembly; the slurry suction port and the slurry injection and discharge port are respectively hinged with a baffle plate through a rotating rod, and the baffle plates are respectively matched with the slurry suction port and the slurry injection and discharge port; the rotating rod is fixedly connected with the baffle; the outer end of the rotating rod penetrates through the side wall of the cavity body and is positioned outside the cavity body; the linkage rod frame is fixedly connected with the two rotating rods respectively; one end of the driving component is installed on the outer side of the cavity, and the other end of the driving component is connected with the linkage rod frame.

Through adopting above-mentioned technical scheme, this application is in the same end port setting of cavity and is absorb thick liquid mouth, slip casting thick liquid mouth, absorbs thick liquid mouth, slip casting thick liquid mouth and makes the cavity select only rather than one of them intercommunication according to switching mechanism switching control. The power assembly drives the piston to be combined with the switching mechanism along the reciprocating suction and injection in the cavity, the suction and injection operation is synchronously carried out, the cavity is made to be sucked by the outside through a suction slurry port and stored in the cavity, the slurry is injected and discharged to the outside through a slurry injection and discharge port, the slurry in the cavity is injected and discharged to a construction area, and the operation efficiency of the whole grouting process is effectively improved.

The slurry suction port and the slurry injection and discharge port are driven by a driving assembly of the switching mechanism to rotate the linkage rod frame to rotate the two baffles, so that the slurry injection and discharge port is closed when the slurry suction port is opened or the slurry injection and discharge port is opened when the slurry suction port is closed, the alternate opening and the alternate communication with the cavity of the slurry suction port and the slurry injection and discharge port are realized, and the alternate execution of slurry suction and slurry injection and discharge of the grouting device is realized.

Preferably, the diameter of the baffle is larger than the inner diameter of the slurry suction port; an absorbing sleeve is arranged on the axial outer side of the absorbing slurry port; the baffle is matched and positioned in the suction sleeve; the axial length of the suction sleeve is not less than the diameter of the baffle; and the rotating rod is hinged between the suction sleeve and the pulp suction port.

Through adopting above-mentioned technical scheme, the baffle internal diameter is less than and absorbs the thick liquid mouth, can be convenient for the baffle shelter from completely absorbing the thick liquid mouth, makes to absorb the thick liquid mouth and closes. The baffle is located and absorbs thick liquid mouthful axial outside, absorbs the sleeve pipe and is used for guard flap and baffle connecting rod, and the turned angle of restriction baffle reduces the baffle and excessively deviates from to absorb thick liquid mouthful direction and rotates and cause power extravagant, reduces the energy consumption. And this application slip casting device accessible is absorb sleeve pipe and outside pipe connection, conveniently absorbs the thick liquid.

Preferably, the side wall of the suction sleeve hinged with the rotating rod is radially and outwards provided with a suction baffle plate accommodating groove.

Through adopting above-mentioned technical scheme, deviating from when absorbing thick liquid mouth and rotating at the baffle, absorb the baffle and accomodate the groove and can be used to accomodate the baffle, reduce to take place to keep away from by absorbing the sleeve pipe and absorb the thick liquid that thick liquid mouth one end port absorbed the entering and promote the baffle towards absorbing thick liquid mouth direction rotation condition, influence the thick liquid and absorb the operation, perhaps lead to the baffle to damage.

Preferably, a communicated injection and discharge connecting pipe is arranged between the injection and discharge slurry port and the cavity; the diameter of the baffle is larger than the inner diameter of the grouting and discharging port; and the rotating rod is hinged between the grouting and discharging connecting pipe and the grouting and discharging port.

By adopting the technical scheme, the baffle plate positioned in the grouting and discharging port is hinged between the grouting and discharging port and the grouting and discharging connecting pipe, and under the control of the driving assembly, the baffle plate can only rotate outwards towards the grouting and discharging port to separate the cavity from the outside of the grouting and discharging port or rotate inwards far away from the grouting and discharging port, so that the cavity is communicated with the outside through the sucking port.

And the rotating amplitude of the baffle is limited by the injection and drainage connecting pipe, so that the phenomenon that the baffle excessively deviates from the direction of the injection and drainage slurry port to rotate to cause power waste is reduced, and the energy consumption is reduced.

Preferably, the side wall of the injection and drainage connecting pipe hinged with the rotating rod is radially and outwards provided with an injection and drainage baffle accommodating groove.

Through adopting above-mentioned technical scheme, when the baffle deviates from slip casting and discharging thick liquid mouth and rotates, the groove can be used for accomodating the baffle to the slip casting and discharging baffle, reduces to take place to promote the baffle by the outside thick liquid that arranges of annotating of cavity and rotate the condition towards slip casting and discharging thick liquid mouth direction, influences the thick liquid and annotates and arrange the operation, perhaps leads to the baffle to damage.

Preferably, the linkage rod frame comprises two connecting rods and a linkage rod positioned between the two connecting rods, and the linkage rod is connected between the two connecting rods; each rotating rod is fixedly connected with one end of a connecting rod far away from the linkage rod; the two connecting rods are parallel.

By adopting the technical scheme, the linkage rod frame formed by connecting the two connecting rods and the linkage rod forms a four-side linkage structure, the two connecting rods are arranged in parallel, and the linkage rod frame is driven by the driving assembly, so that the connecting rods can drive the rotating rods to rotate, and the baffle plates are switched in the state.

In a second aspect, the present application provides a grouting control system, which adopts the following technical scheme:

a grouting control system, comprising:

the first acquisition module is used for acquiring the opening and closing state data of the grout sucking port and the grout injecting and discharging port in real time; the opening and closing states of the slurry suction port and the slurry injection and discharge port are in linkage arrangement, the slurry injection and discharge port is closed when the slurry suction port is opened, and the slurry suction port is closed when the slurry injection and discharge port is opened;

the second acquisition module is used for acquiring position data of the piston; setting the position of the piston as an upper limit when the cavity is full of slurry and setting the position of the piston as a lower limit when the cavity is full of slurry; the position data of the piston comprises an upper limit, a lower limit or a position between the upper limit and the lower limit;

the comparison module is used for comparing the opening and closing state data of the slurry opening and the position data of the piston with preset condition data respectively and obtaining a comparison result;

an execution module to complete: generating a control signal according to the comparison result, and driving an execution module to execute actions of sucking and discharging grout or stopping grouting according to the control signal;

the suction slurry flows as: opening a slurry suction port, and then moving a piston upwards in a limiting way to suck slurry;

the grouting and discharging liquid is used for: opening a grouting and discharging port, and then moving a piston downwards in a limiting manner to perform grouting and discharging;

the stop grouting operation is as follows: the slurry sucking port, the slurry injecting and discharging port and the piston are kept in the current state.

Through adopting above-mentioned technical scheme, this application absorbs opening or closing of thick liquid mouth, slip casting thick liquid mouth in the slip casting device through slip casting system according to demand control drive assembly, and control power component accomplishes piston along cavity axial displacement, and the range of motion is upper limit and lower spacing.

The control system controls and executes corresponding operations according to the acquired data, the control capability is strong, the automation level is high, and the efficiency of grouting operation can be improved.

Preferably, the execution module includes:

the first execution submodule is used for executing opening of a slurry suction port or opening of a slurry injection and discharge port;

and the second execution submodule is used for executing the upward limit movement of the piston or the downward limit movement of the piston.

Through adopting above-mentioned technical scheme, first execution submodule piece is slip casting device's drive assembly, and the baffle that is located absorption thick liquid mouth, the baffle that is located the slip casting mouth that the drive execution linkage set up rotate, realize absorbing the thick liquid mouth and open the thick liquid operation of being convenient for absorb, or the slip casting mouth opens the thick liquid operation of being convenient for slip casting.

The second execution submodule is a power assembly and drives the piston to move along the cavity, when the piston is pushed to the lower limit position, no slurry exists in the cavity, and the piston is in an initial state of sucking the slurry; when the piston is pulled to the upper limit, the cavity is filled with the grout, and the piston is in an initial state of grouting and discharging the grout.

In a third aspect, the present application provides a grouting control method, which adopts the following technical scheme:

a grouting control method, comprising:

acquiring the opening and closing state data of a grout sucking port and a grout injecting and discharging port;

acquiring position data of a piston; setting the position of the piston as an upper limit when the cavity is filled with the slurry, and setting the position of the piston as a lower limit when the cavity is filled with the slurry; the position data of the piston comprises an upper limit, a lower limit or a position between the upper limit and the lower limit;

comparing the opening and closing state data of the slurry port and the position data of the piston with preset condition data respectively to obtain a comparison result;

and generating a control signal according to the comparison result, and driving an execution module to execute actions of sucking and discharging grout or stopping grouting according to the control signal.

By adopting the technical scheme, the control method has simple and convenient steps, can conveniently drive the grouting device to finish the actions of sucking the grout, injecting and discharging the grout or stopping working, and can effectively improve the grouting working efficiency of the grouting device.

Preferably, the driving the execution module to perform actions of sucking grout, injecting and discharging grout or stopping grouting according to the control signal includes:

driving the first execution submodule to execute the action of opening a slurry sucking port according to the control signal, and driving the second execution submodule to execute the action of moving the piston upwards in a limiting way to finish the action of sucking the slurry;

driving the first execution submodule to execute the action of opening the grouting and discharging port according to the control signal, and driving the second execution submodule to execute the action of limiting and moving the piston downwards to finish the action of grouting and discharging the grout;

and braking the second execution submodule and the first execution submodule according to the control signal.

By adopting the technical scheme, the first execution submodule completes the switching of the opening of the slurry sucking port or the opening of the slurry injecting and discharging port through the control signals respectively, and the second execution submodule completes the action of the piston for sucking the slurry in the cavity or injecting and discharging the slurry outside the wall, so that the work of sucking the slurry and injecting and discharging the slurry is realized.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the grouting device is simultaneously provided with a slurry sucking port and a slurry injecting and discharging port, the opening and closing states of the slurry sucking port and the slurry injecting and discharging port are controlled and switched through a linkage structure and a driving assembly, the reciprocating sucking along the cavity by a driving piston of a power assembly is facilitated, the grouting and discharging operation is combined with a switching mechanism, the cavity is used for sucking slurry from the outside through the slurry sucking port and storing the slurry in the cavity, then the slurry is injected and discharged to a construction area through the slurry injecting and discharging port, and the operation efficiency of the whole grouting process is effectively improved;

2. the grouting control system controls and drives the execution module to complete corresponding operation according to the acquired data, so that the grouting device can be effectively controlled to complete grouting operation, the automation level is high, and the grouting operation efficiency can be improved;

3. the grouting control method has simple steps, can conveniently drive the grouting device to finish the actions of sucking the grout, injecting and discharging the grout or stopping the work, and can effectively improve the grouting work efficiency of the grouting device.

Drawings

FIG. 1 is a schematic side view of a grouting device according to embodiment 1 of the present application;

FIG. 2 is a schematic sectional view of A-A in FIG. 1, which mainly shows a sectional structure of the cavity, the suction connecting pipe and the injection and drainage connecting pipe;

FIG. 3 is a schematic perspective view of a grouting apparatus according to example 1 of the present application;

fig. 4 is a schematic structural diagram of a switching module in embodiment 1 of the present application;

FIG. 5 is a schematic view of the internal structure of the part B in FIG. 3, which mainly shows the internal structure of the suction connecting pipe and the injection and drainage connecting pipe;

FIG. 6 is a schematic cross-sectional view taken along the direction C-C in FIG. 2, which mainly shows the connecting structure of the rotating rod and the baffle;

FIG. 7 is an electrical block diagram of a grouting control system according to embodiment 1 of the present application;

FIG. 8 is a flowchart of a method of controlling grouting in embodiment 1 of the present application;

fig. 9 is a flowchart of step S400 of the grouting control method in embodiment 1 of the present application.

Description of reference numerals: 1. a cavity; 2. a piston; 3. a power assembly; 41. a pulp sucking port; 42. grouting and discharging ports; 5. sucking the connecting pipe; 6. injecting and discharging connecting pipes; 61. the injection and drainage baffle receiving groove; 7. a switching mechanism; 71. a baffle plate; 72. a rotating rod; 721. a bearing housing; 722. oil sealing; 73. a drive assembly; 74. a connecting rod; 741. an extension section; 75. a linkage rod; 8. sucking a cannula; 81. a suction baffle plate accommodating groove; 82. a convex ring; 91. a first acquisition module; 92. a second acquisition module; 93. a comparison module; 94. an execution module; 941. a first execution sub-module; 942. and a second execution submodule.

Detailed Description

The present application is described in further detail below with reference to figures 1-9.

Referring to fig. 1 and 2, an embodiment of the application discloses a grouting device, which includes a cavity 1, a piston 2 disposed in the cavity 1, and a power assembly 3 connected to the piston 2 through the cavity 1; one end of the cavity 1, which is far away from the power component 3, is provided with two slurry ports 4; a switching mechanism 7 is arranged between the two slurry ports 4, and the switching mechanism 7 is positioned on one side of the piston 2 far away from the power assembly 3; the switching mechanism 7 is used for switching to make the cavity 1 communicate with the outside through one of the slurry ports 4.

The grouting device is provided with two grout ports 4 at the same end port of the cavity 1, and the two grout ports 4 are switched and controlled by the switching mechanism 7 to ensure that the cavity 1 is selectively communicated with one grout port 4 and separated from the other grout port 4. Therefore, the power assembly 7 can drive the piston 2 to reciprocate along the cavity 1 to perform suction and injection operations, and the suction and injection operations can be synchronously performed by combining with the switching machine 7. Two thick liquid mouths 4 are used for absorbing thick liquid, the slip casting thick liquid respectively, effectively improve the operating efficiency of whole slip casting process.

Example 1

Referring to fig. 2, one end of the cavity 1 far away from the power assembly 3 is communicated with a suction connecting pipe 5 and an injection and drainage connecting pipe 6 which are in different directions. One end of the suction connecting pipe 5, which is far away from the cavity 1, is provided with a pulp suction port 4 which is a pulp suction port 41; one end of the injection and discharge connecting pipe 6, which is far away from the cavity 1, is provided with a slurry port 4 which is an injection and discharge slurry port 42. The grouting device can be communicated with the slurry conveying device through the suction connecting pipe 5, so that slurry can be sucked conveniently; the slip casting device accessible is annotated and is arranged connecting pipe 6 and slip casting pipeline intercommunication, is convenient for annotate the thick liquid and arrange to the construction area of demand in.

Referring to fig. 3 and 4, the switching mechanism 7 includes two baffles 71, two rotating rods 72, a driving assembly 73, two connecting rods 74, and a linkage rod 75. The baffle 71 is arranged at the grout port 4; the rotating rod 72 is fixedly connected with the baffle 71, and the baffle 71 is hinged at the pulp opening 4; and the driving assembly 73 is connected with the rotating rod 72 and used for driving the rotating rod 72 to drive the baffle 71 to rotate. The driving assembly 73 may be one of a telescopic cylinder, a worm gear, or a motor, and in this embodiment, the driving assembly 73 is a telescopic cylinder.

Referring to FIG. 4, the two rotating rods 72 are parallel; the linkage rod 75 is connected between the two connecting rods 74; each rotating rod 72 is fixedly connected with one end of a connecting rod 74 far away from the linkage rod 75; the two links 74 are parallel. An extension 741 extends from one end of the link 74 facing away from the pivot rod 72. The driving assembly 73 is located outside the chamber 1, and the driving assembly 73 is a driving hydraulic cylinder. The cylinder body of the driving hydraulic cylinder is hinged to the outer side of the cavity 1, and the piston 2 rod of the driving hydraulic cylinder is hinged to the extension section 741.

Referring to fig. 4, a linkage rod frame formed by connecting two connecting rods 74 and a linkage rod 75 forms a four-side linkage structure, and the two connecting rods 74 are arranged in parallel, and at this time, the linkage rod frame is driven by a driving assembly 73, so that the connecting rods 74 drive the rotating rods 72 to rotate, and further the state of the baffle 71 is switched. The driving component 73 can drive the extension section 741 to drive the rotating rod 72, the baffle 71 and the linkage rod 75 to rotate through the connecting rod 74 connected with the extension section 741; so that the other connecting rod 74, the other rotating rod 72 and the other baffle 71 which are hinged with the linkage rod 75 synchronously rotate along with the other connecting rod.

Referring to fig. 5, an extraction sleeve 8 is installed axially outside the extraction paddle 41. A baffle plate 71 and a rotating rod 72 which are fixedly connected with each other are hinged between the suction sleeve 8 and the suction paddle 41. The baffle 71 has a diameter larger than the inner diameter of the suction paddle 41. The axial length of the suction sleeve 8 is not less than the diameter of the baffle 71; and the inner side wall of the suction sleeve 8 hinged with the rotating rod 72 is provided with a suction baffle accommodating groove 81 which is radially and outwards concave. The end of the suction sleeve 8 far away from the end of the suction grout port 41 is provided with a convex ring 82 radially inwards. The collar 82 further protects the baffle 71 and reduces damage to the baffle 71 caused by slurry entering the extraction cannula 8.

Referring to fig. 5, another baffle 71 and another rotating rod 72 fixedly connected to each other are hingedly installed between the discharging port 42 and the discharging connection pipe 6. The diameter of the baffle 71 is larger than the inner diameter of the grouting and discharging opening 42; the inner side wall of the injection and drainage connecting pipe 6 hinged with the rotating rod 72 is radially and outwards provided with an injection and drainage baffle receiving groove 61 in a concave mode.

Referring to fig. 6, the middle of the rotary rod 72 is fixedly connected to the baffle 71, and the upper and lower parts of the rotary rod 72 are both sleeved with bearing sleeves 721; the bearing sleeve 721 is located between the rotary rod 72 and the slurry suction port 41 or between the rotary rod 72 and the slurry injection and discharge port 42. An oil seal 722 can also be arranged between the bearing sleeve 721 and the middle part of the rotating rod 72. The rotating rod 72 is connected with the cavity 1 through the bearing sleeve 721 and the oil seal 722, so that the baffle 71 can be driven to rotate under the control of the linkage rod 75 and the driving assembly 73, the friction between the baffle 71 and the cavity 1 can be reduced, the rotating efficiency of the baffle 71 is improved, and the sealing performance between the rotating rod 72 and the installation part is ensured.

The implementation principle of the grouting device in embodiment 1 of the application is as follows:

referring to fig. 4, the driving assembly 73 drives the extension 741, the link 74, the rotating rod 72 and the linkage rod 75 to rotate sequentially, so that the baffle 71 connected with the rotating rod 72 rotates, and the state is changed.

Referring to fig. 2 and 5, when the power assembly 3 drives the piston 2 to move in a direction away from the slurry port 4, under the switching control of the driving assembly 73, the baffle 71 corresponding to the slurry suction port 41 rotates toward the baffle suction receiving groove 81, and meanwhile, the baffle 71 corresponding to the slurry injection/discharge port 42 moves toward the slurry injection/discharge port 42 to block the slurry injection/discharge port 42, so that the cavity 1 is communicated with the slurry suction port 41 and sucks slurry inwards.

When the power assembly 3 drives the piston 2 to move towards the direction of the slurry port 4, under the switching control of the driving assembly 73, the baffle 71 corresponding to the slurry suction port 41 rotates towards the slurry suction port 41 to block the slurry suction port 41, and meanwhile, the baffle 71 corresponding to the slurry injection/discharge port 42 moves towards the slurry injection/discharge baffle receiving groove 61, so that the cavity 1 is communicated with the slurry injection/discharge port 42 and slurry is injected and discharged outwards.

The embodiment 1 of the application also discloses a grouting control system.

Referring to fig. 7, a grouting control system includes a first obtaining module 91, a second obtaining module 92, a comparing module 93, and an executing module 94.

The first acquisition module 91 is used for acquiring the opening and closing state data of the grout sucking port and the grout injecting and discharging port in real time; the opening and closing states of the slurry suction port and the slurry injection and discharge port are set in a linkage mode, the slurry injection and discharge port is closed when the slurry suction port is opened, and the slurry suction port is closed when the slurry injection and discharge port is opened.

Referring to fig. 3, the driving assembly 73 is a telescopic cylinder, the telescopic cylinder drives the baffle to rotate, and when the grout injecting and discharging port is opened and the grout sucking port is closed, the telescopic cylinder is in a fully extended state; and conversely, the telescopic cylinder is in a fully contracted state.

Therefore, a suction position sensor is arranged between the outer end part of the telescopic cylinder piston rod and the telescopic cylinder body, and the suction position sensor is a contact sensor. When the piston rod of the telescopic cylinder retracts to approach the cylinder body of the telescopic cylinder, the suction position sensor is triggered to indicate the opening and closing state of the grouting and discharging port while the suction grout port is opened.

And a filling and discharging position sensor is arranged between the inner end part of the telescopic cylinder piston rod and the port of the telescopic cylinder body, and the filling and discharging position sensor is a contact sensor. When the telescopic cylinder piston rod is completely extended out, the injection and discharge position sensor is triggered to indicate the opening and closing state of the injection and discharge grout port and the suction grout port.

The first acquisition module 91 includes a suction position sensor and a discharge position sensor. The suction position sensor and the injection and drainage position sensor are contact sensors. The baffle corresponding to the slurry suction port and the baffle corresponding to the slurry injection and discharge port are controlled by the linkage rod frame and the driving assembly in a linkage manner, so that the cavity is only communicated with the slurry suction port or the slurry injection and discharge port. Therefore, when the suction position sensor is triggered, the suction position sensor transmits a signal to the first acquisition module 91, which indicates that the suction slurry port is closed and the injection and discharge slurry port is opened; when the injection and discharge position sensor is triggered, the injection and discharge position sensor transmits a signal to the first acquisition module 91, which indicates that the injection and discharge slurry port is closed and the suction slurry port is opened.

A second acquisition module 92 for acquiring position data of the piston; setting the position of the piston as an upper limit when the cavity is full of slurry and setting the position of the piston as a lower limit when the cavity is full of slurry; the position data of the piston comprises an upper limit, a lower limit or a position between the upper limit and the lower limit.

An upper limit position sensor is arranged between one side of the piston, which is close to the power assembly, and the upper limit position sensor is arranged between the piston and the upper limit position, a lower limit sensor is arranged between the power assembly and the cavity when the piston is positioned at the lower limit position, and the upper limit sensor and the lower limit sensor are both contact sensors. When the piston moves to the upper limit, the upper limit sensor transmits a signal to the second acquisition module 92, which indicates that the piston is positioned at the upper limit and the cavity is full of slurry; when the piston moves to the lower limit, the lower limit sensor transmits a signal to the second acquisition module 92, which indicates that the piston is located at the lower limit and no slurry is stored in the cavity; when the upper limit sensor and the lower limit sensor do not transmit signals to the second obtaining module 92, it indicates that the piston is located between the upper limit and the lower limit, and slurry is stored in the cavity but the cavity is not full.

And the comparison module 93 is used for comparing the opening and closing state data of the slurry opening and the position data of the piston with preset condition data respectively and obtaining a comparison result.

The execution module 94 includes a first execution sub-module 941 and a second execution sub-module 942, configured to complete:

and generating a control signal according to the comparison result, and driving the execution module 94 to execute actions of sucking grout, injecting and discharging grout or stopping grouting according to the control signal.

The suction paddle is hydraulically operated as: the slurry sucking port is opened first, and the piston is then moved upwards to suck slurry. The grouting and discharging liquid is hydraulically used as: the grouting and discharging port is opened first, and then the piston is moved downwards in a limiting mode to inject and discharge grout. Stopping grouting as follows: the slurry sucking port, the slurry injecting and discharging port and the piston are kept in the current state.

The first execution submodule 941 is used for executing opening of a slurry suction port or opening of a slurry injection and discharge port. First execution submodule 941 is grouting device's drive assembly, and the drive is executed the baffle that is located to absorb the thick liquid mouth that the linkage set up, is located the baffle of slip casting and discharging mouth and is rotated, realizes absorbing the thick liquid mouth and opens and be convenient for absorb the thick liquid operation, or the slip casting and discharging mouth opens and be convenient for slip casting and discharging liquid operation.

A second execution sub-module 942 for executing the upward limit movement of the piston or the downward limit movement of the piston. The second execution submodule 942 is a power assembly, and drives the piston to move along the cavity, when the piston is pushed to the lower limit, no slurry exists in the cavity, and the piston is in an initial state of sucking the slurry; when the piston is pulled to the upper limit, the cavity is filled with the grout, and the piston is in an initial state of grouting and discharging the grout.

This application is passed through slip casting system and is controlled drive assembly according to the demand and carry out opening or closing of absorbing thick liquid mouth, slip casting thick liquid mouth in the slip casting device, and control power assembly accomplishes piston along cavity axial displacement, and the range of motion is spacing and lower spacing.

Slurry state modules are arranged at the slurry suction port and the slurry injection and discharge port and used for acquiring concentration data and flow data of flowing slurry and pressure data of the slurry to corresponding positions; and the concentration data, the flow data, the pressure data and the like are compared with the preset slurry opening and closing state data, whether slurry is sucked into the cavity or not and whether slurry is injected and discharged out of the cavity or not are judged according to the comparison result, or the speed of the movable piston is adjusted by adjusting the second execution submodule 942 according to the comparison result, so that the occurrence of pipe explosion accidents caused by overlarge pressure of the slurry on a slurry sucking port or a slurry injecting and discharging port is reduced.

The embodiment 1 of the application also discloses a grouting control method.

Referring to fig. 8, a grouting control method includes:

s100: acquiring the opening and closing state data of a grout sucking port and a grout injecting and discharging port; comprises the step of acquiring the trigger signals of a suction position sensor and a discharge position sensor in real time.

S200: acquiring position data of a piston; setting the position of the piston as an upper limit when the cavity is full of slurry and setting the position of the piston as a lower limit when the cavity is full of slurry; the position data of the piston comprises an upper limit, a lower limit or a position between the upper limit and the lower limit;

s300: comparing the opening and closing state data of the slurry opening and the position data of the piston with preset condition data respectively to obtain a comparison result; the preset condition data includes:

a. the slurry suction port is opened, the slurry injection and discharge port is closed, and when the piston is positioned at the lower limit position, no slurry exists in the cavity, so that the slurry suction action can be performed;

b. when the piston is positioned between the upper limit and the lower limit, the slurry in the cavity is not full, the slurry can be sucked, and the slurry can be hydraulically discharged;

c. the slurry suction port is opened, the slurry injection and discharge port is closed, when the piston is positioned at the upper limit position, the cavity is fully stored with slurry, the slurry suction action is completed, but the slurry injection and discharge action cannot be performed, namely, the power assembly keeps braking;

d. the slurry suction port is closed, the slurry injection and discharge port is opened, when the piston is positioned at the lower limit position, no slurry exists in the cavity, the slurry injection and discharge action is completed, but the slurry suction action can not be carried out, namely, the power assembly keeps braking;

e. when the piston is positioned between the upper limit and the lower limit, the slurry in the cavity is not full, the slurry can be sucked, and the slurry can be hydraulically discharged;

f. the slurry sucking port is closed, the slurry injecting and discharging port is opened, and when the piston is located at the upper limit position, the cavity is full of slurry, so that slurry injecting and discharging can be carried out.

S400: and generating a control signal according to the comparison result, and driving an execution module to execute actions of sucking and discharging grout or stopping grouting according to the control signal. The control method has simple and convenient steps, can conveniently drive the grouting device to finish the actions of sucking the grout, injecting and discharging the grout or stopping working, and can effectively improve the grouting working efficiency of the grouting device.

Referring to fig. 8, before step S100, step S00 may also be performed:

acquiring a starting instruction, and driving an execution module to execute according to the starting instruction: and opening the slurry suction port and pushing the piston to the lower limit.

The slurry suction port is opened, and the piston is positioned at the lower limit position to perform the initial action of the starting action of the slurry injecting device.

Referring to fig. 9, step S400 drives the execution module to perform operations of sucking grout, discharging grout or stopping grouting according to the control signal, including:

s401: and driving the first execution submodule to execute the action of opening the slurry sucking port according to the control signal, and driving the second execution submodule to execute the action of moving the piston upwards in a limiting way to finish the action of sucking the slurry.

S402: and driving the first execution submodule to execute the action of opening the grouting and discharging port according to the control signal, and driving the second execution submodule to execute the action of downwards limiting and moving the piston, so that the action of grouting and discharging is completed.

S403: and braking the second execution submodule and the first execution submodule according to the control signal.

Steps S401, S402, and S403 are parallel, and one of them is selected and executed according to the control signal output in step S300. When step S401 or S402 is executed, the operation of opening the slurry suction port or the slurry injection and discharge port is completed, and then the piston is moved to complete the operation of sucking or injecting and discharging slurry. Therefore, the situation that the grout sucking port and the grout injecting and discharging port are not switched in place, and the grout injected and discharged from the grout injecting and discharging port is sucked into the cavity by the grouting device can be reduced.

And after the first execution submodule and the second execution submodule complete corresponding execution actions according to the control signals, the opening and closing state data of the slurry opening and the position data of the piston are changed. When entering the next working process, the opening and closing state data of the slurry opening and the position data of the piston are continuously collected.

The first execution submodule completes the switching of the opening of a slurry suction port or the opening of a slurry injection and discharge port through control signals respectively, and the second execution submodule completes the action of a piston for sucking slurry in a cavity or injecting and discharging slurry outside a wall, so that the work of sucking the slurry and injecting and discharging the slurry is realized.

Example 2

The difference from example 1 is that: the grouting device disclosed in embodiment 2 of the present application controls the opening and closing conditions between the baffles 71 corresponding to the suction ports 41 and the baffles 71 corresponding to the grouting ports 42 by controlling the driving assembly 73. When the driving component 73 is a mechanism such as a hydraulic cylinder or an air cylinder which can drive the rotating rod 72 to drive the baffle 71 to rotate, the rotating rod 72 can drive the baffle 71 to realize stepless rotation, so that different included angles are formed between the baffle and the corresponding slurry suction port 41 or the corresponding slurry injection and discharge port 42.

Referring to fig. 2, since the bottom of the injection/discharge baffle housing 61 is perpendicular to the end surface of the injection/discharge port 42, and the bottom of the suction baffle housing 81 is perpendicular to the end surface of the suction port 41. The included angle between the end surface of the slurry suction port 41 and the corresponding baffle 71 is set as a suction area included angle, and the included angle between the end surface of the slurry injection and discharge port 42 and the corresponding baffle 71 is set as a discharge area included angle. Therefore, only when the included angle of the suction area is 45 degrees, the included angle of the injection and drainage area is 45 degrees. In other processes of opening and closing the baffle 71 corresponding to the slurry suction port 41 and the baffle 71 corresponding to the slurry injection and discharge port 42, the included angle between the suction area and the included angle between the slurry injection and discharge area are different, which means that the opening and closing degree of the communication port communicating the slurry suction port 41 with the cavity 2 and the communication port communicating the slurry injection and discharge port 42 with the cavity 2 are different.

This application slip casting device uses the completion after, in order to reduce the influence to next operation, also in order to improve slip casting device's life, need wash slip casting device.

When the grouting and discharging device is cleaned, flushing water pipes can be respectively connected to the outer sides of the grout sucking port 41 and the grout injecting and discharging port 42. The driving component 73 is controlled to change the included angle of the suction area and the included angle of the grouting area, and the opening and closing of the grouting inlet 41 and the grouting outlet 42 are regulated and controlled. And then the piston 2 is driven by the power component 3 to move along the cavity 1 at different speeds, so that the water flow speed, the scouring force and the like entering the cavity 1 and the like through the slurry suction port 41 are different from the water flow speed, the scouring force and the like entering the cavity 1 and the like through the slurry injection and discharge port 42. Therefore, various scouring forces in areas such as the inner wall of the cavity 1, the inner wall of the suction connecting pipe 5, the inner wall of the injection and drainage connecting pipe 6 and the like are formed, the inside of the grouting device is cleaned by the scouring forces, and dirt or residual slurry attached to the inner wall can be effectively and quickly cleaned and discharged.

The embodiment 2 of the application discloses a slip casting control system.

A grouting control system includes a first obtaining module 91, a second obtaining module 92, a comparing module 93, and an executing module 94.

The first acquisition module 91 is used for acquiring the opening and closing state data of the grout sucking port and the grout injecting and discharging port in real time; the opening and closing states of the slurry suction port and the slurry injection and discharge port are in linkage arrangement. When the slurry suction port is opened, the slurry injection and discharge port is closed; when the grout injecting and discharging port is opened, the grout sucking port is closed.

Referring to fig. 3, the driving assembly 73 is a telescopic cylinder, and the telescopic cylinder drives the rotating rod to rotate the baffle.

The connection part of the telescopic cylinder piston rod and the extension section 741 is arranged at a first sampling position, one end face, close to the first sampling position, of the telescopic cylinder body is arranged at a second sampling position, a distance sensor is arranged at the first sampling position or the second sampling position, and the distance sensor is used for collecting distance data between the first sampling position and the second sampling position.

When the grout injecting and discharging port 42 is opened and the grout sucking port 41 is closed, the telescopic cylinder is in a fully extending state, and the distance between the first sampling position and the second sampling position is the maximum distance data. When the grout injecting and discharging port 42 is closed and the grout sucking port 41 is opened, the telescopic cylinder is in a complete contraction state, and the distance between the first sampling position and the second sampling position is the minimum distance data.

When the grout injecting and discharging port 42 and the grout sucking port 41 are both in a partial opening state, the piston rod of the telescopic cylinder is in a partial extending state out of the telescopic cylinder. The distance data acquired by the first acquiring module 91 is between the maximum distance data and the minimum distance data.

The first acquiring module 91 transmits the acquired pitch data to the comparing module 93.

A second obtaining module 92, configured to collect position data of the piston; setting the position of the piston as an upper limit when the cavity is full of slurry and setting the position of the piston as a lower limit when the cavity is full of slurry; the position data of the piston comprises an upper limit, a lower limit or a position between the upper limit and the lower limit.

The comparison module 93 is used for comparing the grout opening and closing data acquired by the first acquisition module 91 with preset first condition data and acquiring a first comparison result; the position data of the piston collected by the second obtaining module 92 is compared with the second preset condition data, and a second comparison result is obtained.

and generating a control signal according to the first comparison result and the second comparison result, and driving the execution module 94 to perform actions of sucking grout, injecting and discharging grout, stopping grouting or cleaning a grouting device according to the control signal.

The suction paddle is hydraulically operated as: the slurry sucking port is opened first, and the piston is then moved upwards to suck slurry.

The grouting and discharging liquid is used for: the grouting and discharging port is opened first, and then the piston is moved downwards in a limiting mode to perform grouting and discharging.

Stopping grouting as follows: the slurry sucking port, the slurry injecting and discharging port and the piston are kept in the current state.

The cleaning and grouting device acts as: the driving assembly is controlled to enable the slurry suction port and the slurry injection and discharge port to form various different opening states, the power mechanism is combined to drive the piston to suck, inject and discharge cleaning water and the like, scouring force with different degrees is carried out in the grouting device, and cleaning of the interior of the grouting device is completed.

The first execution submodule 941 is configured to execute opening of the slurry suction port and opening of the slurry injection and discharge port, or to partially open the slurry suction port and the slurry injection and discharge port at the same time. First execution submodule 941 is grouting device's drive assembly, and the drive is executed the baffle that is located to absorb the thick liquid mouth that the linkage set up, is located the baffle of slip casting and discharging mouth and is rotated, realizes absorbing the thick liquid mouth and opens and be convenient for absorb the thick liquid operation, or the slip casting and discharging mouth opens and be convenient for slip casting and discharging liquid operation, perhaps washs grouting device operation.

The control system controls and executes corresponding operation according to the acquired data, the control capability is strong, the automation level is high, and the efficiency of grouting operation can be improved.

The slurry suction port and the slurry injection and discharge port are respectively provided with a slurry state module for acquiring concentration data and flow data of flowing slurry and pressure data of the slurry to corresponding positions; and the concentration data, the flow data, the pressure data and the like are compared with the preset slurry opening and closing state data, whether slurry is sucked into the cavity or not and whether slurry is injected and discharged out of the cavity or not are judged according to the comparison result, or the speed of the movable piston is adjusted by adjusting the second execution submodule 942 according to the comparison result, so that the occurrence of pipe explosion accidents caused by overlarge pressure of the slurry on a slurry sucking port or a slurry injecting and discharging port is reduced.

The application embodiment 2 discloses a grouting control method.

A grouting control method comprises the following steps:

s100: acquiring the opening and closing state data of a grout sucking port and a grout injecting and discharging port; the opening and closing state data of the grout opening is embodied by the distance data acquired by the first acquisition module, and the distance data is acquired by the distance sensor positioned at the first sampling position or the second sampling position to obtain the distance between the first sampling position and the second sampling position.

S200: acquiring position data of a piston; setting the position of the piston as an upper limit when the cavity is filled with the slurry, and setting the position of the piston as a lower limit when the cavity is filled with the slurry; the position data of the piston comprises an upper limit, a lower limit or a position between the upper limit and the lower limit;

f. the slurry suction port is closed, the slurry injection and discharge port is opened, and when the piston is positioned at the upper limit position, the cavity is fully stored with slurry, and slurry injection and discharge can be carried out;

g. the slurry suction port and the slurry injection and discharge port are locally opened, and no matter the piston is at the upper limit or the lower limit, the slurry suction port and the slurry injection and discharge port are externally connected with a flushing water pipe, so that the action of cleaning the slurry injection device can be performed; when cleaning action is carried out, the first execution submodule can be driven to change the opening and closing state data of the grout sucking port and the grout injecting and discharging port, and the water inflow and the water outflow of the grout sucking port and the grout injecting and discharging port are changed, so that the grouting device is completely cleaned.

S400: and generating a control signal according to the comparison result, and driving an execution module to execute actions of sucking the grout, injecting and discharging the grout, stopping grouting or cleaning a grouting device according to the control signal. The control method has simple steps, can conveniently drive the grouting device to complete the actions of sucking the grout, injecting and discharging the grout or stopping the work, can effectively improve the grouting work efficiency of the grouting device, effectively cleans the grouting device and prolongs the service life of the grouting device.

Referring to fig. 8, before step S100, step S00 may also be performed:

acquiring a starting instruction, and driving an execution module to execute according to the starting instruction: opening the slurry sucking port and pushing the piston to the lower limit.

s401: and driving the first execution submodule to execute the action of opening the slurry suction port according to the control signal, and driving the second execution submodule to execute the action of moving the piston upwards in a limiting way to finish the action of sucking the slurry.

S403: braking the second execution submodule and the first execution submodule according to the control signal;

s404: and driving the first execution submodule to execute and open the slurry sucking port and the slurry injecting and discharging port partially and simultaneously according to the control model, and driving the second execution submodule to execute and move the piston along the upper limit and the lower limit to finish the action of cleaning the slurry injecting device.

Steps S401, S402, S403, and S404 are parallel, and one of them is selected and executed according to the control signal output in step S300.

When step S401 or S402 is executed, the operation of opening the slurry suction port or the slurry injection and discharge port is completed, and then the piston is moved to complete the operation of sucking or injecting and discharging slurry. Therefore, the situation that the grout sucking port and the grout injecting and discharging port are not switched in place, and the grout injected and discharged from the grout injecting and discharging port is sucked into the cavity by the grouting device can be reduced.

The first execution submodule completes the switching of the opening of a slurry sucking port or the opening of a slurry injecting and discharging port through control signals respectively, and the second execution submodule completes the action of a piston for sucking slurry into a cavity or injecting and discharging slurry outside a wall, so that the work of sucking slurry and injecting and discharging slurry is realized.

When the step S404 is executed, the first execution submodule may be simultaneously driven to change the opening and closing states of the slurry suction port and the slurry injection and discharge port, and the second execution submodule may be driven to execute the action of driving the piston to move along the upper limit and the lower limit.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. A grouting device comprises a cavity (1), a piston (2) arranged in the cavity (1), and a power assembly (3) penetrating through the cavity (1) and connected with the piston (2); the method is characterized in that: one end of the cavity (1) far away from the power assembly (3) is provided with a slurry suction port (41) and a slurry injection and discharge port (42); a switching mechanism (7) is arranged between the slurry suction port (41) and the slurry injection and discharge port (42), and the switching mechanism (7) is positioned on one side, far away from the power assembly (3), of the piston (2);

the switching mechanism (7) comprises a baffle (71), a rotating rod (72), a linkage rod frame and a driving assembly (73); the slurry suction port (41) and the slurry injection and discharge port (42) are respectively hinged with a baffle (71) through a rotating rod (72), and the baffles (71) are respectively matched with the slurry suction port (41) and the slurry injection and discharge port (42); the rotating rod (72) is fixedly connected with the baffle (71); the outer end of the rotating rod (72) penetrates through the side wall of the cavity (1) and is positioned outside the cavity (1); the linkage rod frame is respectively fixedly connected with the two rotating rods (72); one end of the driving component (73) is arranged on the outer side of the cavity (1), and the other end of the driving component is connected with the linkage rod frame;

the linkage rod frame comprises two connecting rods (74) and a linkage rod (75) positioned between the two connecting rods (74), and the linkage rod (75) is connected between the two connecting rods (74); each rotating rod (72) is fixedly connected with one end, far away from the linkage rod (75), of a connecting rod (74); the two connecting rods (74) are parallel.

2. Grouting device according to claim 1, characterised in that: the diameter of the baffle (71) is larger than the inner diameter of the pulp sucking port (41); the axial outer side of the slurry suction port (41) is provided with a suction sleeve (8); the baffle (71) is positioned in the suction sleeve (8) in a matching way; the axial length of the suction sleeve (8) is not less than the diameter of the baffle (71); one rotating rod (72) is hinged between the suction sleeve (8) and the pulp suction port (41).

3. Grouting device according to claim 2, characterised in that: the side wall of the suction sleeve (8) which is hinged with the rotating rod (72) is provided with a suction baffle plate accommodating groove (81) radially outwards.

4. Grouting device according to claim 1, characterised in that: a communicated injection and drainage connecting pipe (6) is arranged between the injection and drainage slurry port (42) and the cavity (1); the diameter of the baffle (71) is larger than the inner diameter of the grouting opening (42); and the rotating rod (72) is hinged between the injection and discharge connecting pipe (6) and the injection and discharge grout port (42).

5. Grouting device according to claim 4, characterised in that: the side wall of the injection and drainage connecting pipe (6) hinged with the rotating rod (72) is provided with an injection and drainage baffle accommodating groove (61) outwards in the radial direction.

6. A control system for a grouting device according to any one of claims 1-5, characterized by comprising:

the first acquisition module (91) is used for acquiring the opening and closing state data of the grout sucking port (41) and the grout injecting and discharging port (42) in real time; the opening and closing states of the slurry suction port (41) and the slurry injection and discharge port (42) are set in a linkage manner, the slurry injection and discharge port (42) is closed when the slurry suction port (41) is opened, and the slurry suction port (41) is closed when the slurry injection and discharge port (42) is opened;

a second acquisition module (92) for acquiring position data of the piston (2); setting the position of the piston (2) as an upper limit when the cavity (1) is full of slurry, and setting the position of the piston (2) as a lower limit when the cavity (1) is completely filled with slurry; the position data of the piston (2) comprises an upper limit, a lower limit or a position between the upper limit and the lower limit;

the comparison module (93) is used for comparing the opening and closing state data of the slurry opening and the position data of the piston (2) with preset condition data respectively and obtaining a comparison result;

an execution module (94) for performing: producing a control signal according to the comparison result, and driving an execution module (94) to execute actions of sucking and discharging grout or stopping grouting according to the control signal;

the suction slurry flows as: the slurry suction port (41) is opened first, and then the piston (2) is moved upwards in a limiting way to suck slurry;

the grouting and discharging liquid is used for: the grouting port (42) is opened, and then the piston (2) is limited downwards to move for grouting;

the stop grouting operation is as follows: the slurry sucking port (41), the slurry injecting and discharging port (42) and the piston (2) keep the current state.

7. The control system of claim 6, wherein the execution module comprises:

a first execution submodule (941) for executing opening of the slurry suction port (41) or opening of the slurry injection and discharge port (42);

and a second execution submodule (942) for executing the upward limit movement of the piston (2) or the downward limit movement of the piston (2).

8. A method for controlling a grouting device according to any one of claims 1-5, characterized by comprising:

acquiring the opening and closing state data of a grout sucking port (41) and a grout injecting and discharging port (42);

acquiring position data of the piston (2); setting the position of the piston (2) as an upper limit when the cavity (1) is full of slurry, and setting the position of the piston (2) as a lower limit when the cavity (1) is completely filled with slurry; the position data of the piston (2) comprises an upper limit, a lower limit or a position between the upper limit and the lower limit;

comparing the opening and closing state data of the slurry opening and the position data of the piston (2) with preset condition data respectively to obtain a comparison result;

and generating a control signal according to the comparison result, and driving an execution module (94) to execute actions of sucking grout, injecting and discharging grout or stopping grouting according to the control signal.

9. The control method according to claim 8, characterized in that: the action of sucking grout, injecting and discharging grout or stopping grouting is executed by driving an execution module (94) according to the control signal, and the action comprises the following steps:

the first execution submodule (941) is driven to open the slurry sucking port (41) according to the control signal, and the second execution submodule (942) is driven to move the piston (2) upwards in a limiting manner, so that the slurry sucking action is completed;

the first execution submodule (941) is driven to execute the action of opening the grouting and discharging port (42) according to the control signal, and the second execution submodule (942) is driven to execute the action of limiting and moving the piston (2) downwards to finish the grouting and discharging action;

and braking the second execution sub-module (942) and the first execution sub-module (941) according to the control signal.