CN113740168A - Anchor rod load test robot and control method - Google Patents
Anchor rod load test robot and control method Download PDFInfo
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- CN113740168A CN113740168A CN202110993518.XA CN202110993518A CN113740168A CN 113740168 A CN113740168 A CN 113740168A CN 202110993518 A CN202110993518 A CN 202110993518A CN 113740168 A CN113740168 A CN 113740168A
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- G01N3/08—Investigating strength properties of solid materials by application of mechanical stress by applying steady tensile or compressive forces
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Abstract
The invention provides an anchor rod load test robot and a control method. This stock load test robot includes: the intelligent control module and the transmission function module are connected with the intelligent control module; at least one test scheme is preset in the intelligent control module, the test scheme is selected, test parameters corresponding to the selected test scheme are extracted, and a control strategy for controlling the transmission function module to work is formed; and the transmission function module performs anchor rod load test corresponding to the selected test scheme on the anchor rod according to the control strategy. The anchor rod load test robot can complete the load test of the anchor rod by directly presetting a test scheme in a system and controlling the transmission function module to execute the preset test scheme through the intelligent control module. The anchor rod load test robot can intelligently carry out various anchor rod load tests according to engineering requirements.
Description
Technical Field
The invention relates to the field of prestressed rock-soil anchoring engineering, in particular to an anchor rod load test robot and a control method.
Background
In the prestressed rock-soil anchoring engineering, in order to determine the ultimate bearing capacity of an anchor rod, verify the rationality of anchor rod design parameters and a construction process, test whether the engineering quality of the anchor rod meets design requirements and test the working performance of the anchor rod under special working conditions and stratum conditions, a plurality of load tests are required to be carried out on the anchor rod, including basic tests, acceptance tests, creep tests and special tests (bearing capacity tests after locking, group anchor effect tests, fatigue tests and the like) of the anchor rod. Due to the fact that the purposes, methods and results of various tests in the load test are different in analysis and processing, reasonable selection and determination are needed according to engineering requirements and test conditions, and due to the lack of scientific, practical and reliable-performance test device equipment, the test work cannot be effectively carried out in the current whole rock-soil anchoring engineering field, so that different degrees of quality safety hazards exist in the engineering construction process.
At present, an anchor rod load test device generally comprises a loading device, a counterforce device and a metering test device, wherein the loading device comprises a high-pressure oil pump and a tensioning jack, the counterforce device is mainly a counterforce beam or a counterforce frame, and the metering test device comprises a displacement meter, a load sensor and the like.
The traditional devices, instruments and equipment have the problems of insufficient reliability, high cost, low efficiency, difficult field implementation and the like for a long time in the anchor rod load test process of geotechnical engineering, and the concrete performances of the traditional devices, instruments and equipment mainly include the following points:
1. because these traditional devices all need to consume a large amount of energy to independently install, debug and match in the experimental preparation stage by all kinds of discrete independence parts, often need many people to cooperate the operation simultaneously in the test process, require very high to the professional skill requirement of participant and the cooperation degree between the personnel. Any one of the subtle links directly affects the accuracy and reliability of data in the test process, and the test work fails due to slight errors.
2. Because the functions and the operations of the test devices are temporarily assembled and matched according to the test scheme, the operations of oil pump control, jack loading and unloading, load displacement measurement recording and the like are independent operations in the test process, and the original manual control and the manual recording are taken as the main operations, so that the automatic process control and the efficient data acquisition are lacked. Therefore, on one hand, the test efficiency is low, on the other hand, the test cost is high, and further, some tests cannot be effectively carried out in the engineering.
3. Because the traditional test device generally has the dangerous working conditions of large size and weight, steep terrain, edge, high altitude, deep pit and the like on the spot of general rock and soil anchoring engineering, and because the traditional test device lacks integration level in the aspects of functions and performance, huge difficulties and potential safety hazards exist in the implementation of installation operation.
4. Because the traditional test device lacks automation and intelligent functions in the aspects of data acquisition and analysis processing, the traditional test device still completely depends on manual recording and processing analysis at present in the analysis processing of test results, and more technicians with abundant experience depend on subjective experience in particular in the explanation of the test results, so that the problems of insufficient objectivity of partial data results and the like are caused.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide an anchor rod load test robot and a control method.
In order to achieve the above object of the present invention, the present invention provides an anchor rod load test robot, including: the intelligent control module and the transmission function module are connected with the intelligent control module;
at least one test scheme is preset in the intelligent control module, the test scheme is selected, test parameters corresponding to the selected test scheme are extracted, and a control strategy for controlling the transmission function module to work is formed; and the transmission function module performs anchor rod load test corresponding to the selected test scheme on the anchor rod according to the control strategy.
The anchor rod load test robot can complete the load test of the anchor rod by directly presetting a test scheme in a system and controlling the transmission function module to execute the preset test scheme through the intelligent control module. The anchor rod load test robot can carry out various anchor rod load tests according to engineering requirements.
The preferable scheme of the anchor rod load test robot further comprises a human-computer interaction functional module connected with the intelligent control module, and the human-computer interaction functional module is used for information interaction between an operator and equipment in the anchor rod load test process and presetting and selecting a test scheme. The man-machine interaction is realized, the test scheme to be developed can be selected and preset on the anchor rod load test robot by a tester more conveniently, and the test result can be checked conveniently.
The preferable scheme of the anchor rod load test robot further comprises a perception function module connected with the intelligent control module, wherein the perception function module measures and perceives parameters of the anchor rod load test process and sends the measured and perceived parameters to the intelligent control module. By measuring the sensed parameters, the experimenter can better know the progress of the experiment.
The preferable scheme of the anchor rod load test robot further comprises a data processing function module connected with the intelligent control module, and the data processing function module is used for generating a test report according to parameters measured and sensed by the sensing function module and a preset test scheme. The running condition and the test result of the test can be more intuitively understood.
According to the preferable scheme of the anchor rod load test robot, the sensing function module comprises a load sensor, a displacement sensor and a state monitoring sensor which is arranged in the transmission function module in a built-in mode.
According to the preferable scheme of the anchor rod load test robot, the transmission function module comprises a power source unit, a power transmission unit connected with the power source unit and an action execution unit connected with the power transmission unit:
the power source unit provides power for driving the action execution unit and transmits the power to the action execution unit through the power transmission unit, and the action execution unit, the counterforce device and the clamp device apply and release load to the anchor rod in the test process.
According to the preferable scheme of the anchor rod load test robot, each unit of the transmission function module is provided with or integrated with a corresponding state monitoring sensor, the working running state of each unit component is monitored in real time, and the working running state information is sent to the sensing function module, the data processing function module and the intelligent control module.
This stock load test robot's preferred scheme, intelligent control module includes:
the mode identification unit is used for identifying a test scheme provided or selected by the man-machine interaction functional module and forming a control strategy according to the test scheme;
the perception data fusion unit is used for perceiving various perception information in the test process in real time, forming control parameters according to perception parameters required by mode identification and providing the control parameters to the control signal processing unit;
and the control signal processing unit is used for controlling the transmission function module in the test process according to the received control parameters and the control strategy formed by the mode identification unit.
According to the preferable scheme of the anchor rod load test robot, the human-computer interaction functional module comprises an input unit and an output unit, the input unit is used for presetting a test scheme and adjusting and controlling parameters, and the output unit is used for checking, calling and adjusting data in the test process in real time.
The invention also provides a control method based on the anchor rod load test robot, which comprises the following steps: presetting at least one test scheme through human-computer interaction, and identifying the test scheme selected by the human-computer interaction;
generating a control strategy according to the selected test scheme so as to control the transmission function module to perform anchor rod load test on the anchor rod;
measuring and sensing parameters of the anchor rod load test process in real time;
and forming a corresponding data result according to the parameters obtained by real-time measurement and perception and the corresponding test scheme.
The invention has the beneficial effects that: the invention is particularly suitable for various anchor rod load tests in rock and soil anchoring engineering, can carry out intelligent, efficient and reliable various anchor rod load tests according to engineering requirements by integrating the sensing, transmission, control and processing functional modules, solves the problems of different test standards, dependence on manpower and the like in the traditional technology, and has the characteristics of high efficiency, high safety, high reliability, low cost and wide application range.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic block diagram of an anchor rod load testing robot.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
As shown in figure 1, the invention provides an anchor rod load test robot which comprises an intelligent control module and a transmission function module connected with the intelligent control module.
At least one test scheme is preset in the intelligent control module, the test scheme comprises a basic test, an acceptance test, a creep test, a bearing capacity test after locking, a group anchor effect test, a fatigue test and the like of the anchor rod, the test scheme is selected, test parameters corresponding to the selected test scheme are extracted, and a control strategy for controlling the work of the transmission function module is formed; and the transmission function module performs anchor rod load tests corresponding to the selected test scheme on the anchor rod according to the control strategy, wherein the anchor rod load tests comprise load application, load holding and unloading. The intelligent control module carries out accurate closed-loop intelligent control on the transmission function module in the test process.
The selection of the test scheme can be carried out according to a preset sequence or can be carried out manually, and when the selection is carried out manually, the anchor rod load test robot further comprises a human-computer interaction functional module connected with the intelligent control module, and the human-computer interaction functional module is used for information interaction between an operator and equipment in the anchor rod load test process and presetting and selecting of the test scheme. Specifically, in order to ensure a safe, efficient, visual and function expansion interface in the test process, the human-computer interaction functional module mainly comprises an input unit and an output unit. The input unit includes but is not limited to various control switch buttons, a touch screen, a mouse, a keyboard and other external devices; the output unit includes but is not limited to various status indicators (such as an indicator, an indicator light, a buzzer and other acousto-optic indicator devices), a digital display device (such as a nixie tube, a liquid crystal screen and the like), an intelligent display device (such as a touch screen) and an extended display device (such as a smart phone, a watch, a tablet computer and the like), and the function extension interface includes but is not limited to network transmission access, downloading and printing and the like. In the test, an operator can preset and/or select a test scheme and adjust and control parameters through the input device according to test requirements, and process data can be checked, called and adjusted in real time through the output device.
In this embodiment, the intelligent control module includes: and the pattern recognition unit is used for recognizing the test scheme provided or selected by the human-computer interaction functional module and forming a control strategy according to the test scheme.
And the perception data fusion unit is used for perceiving various kinds of perception information in the test process in real time, forming control parameters according to perception parameters required by mode identification and providing the control parameters for the control signal processing unit.
The sensing data fusion unit senses various sensing information in real time, including but not limited to load information and displacement information during anchor rod load test, information collected by a state monitoring sensor (such as a hydraulic sensor, a flowmeter, a temperature sensor and the like) arranged in a transmission mechanism, and information input by input equipment (such as a camera, a touch screen, a keyboard, a mouse and the like) in a man-machine interaction function module.
The anchor rod load test comprises a plurality of types, different types correspond to different modes, and parameters required by different modes are different. Therefore, after the sensing data fusion unit senses the information in real time, the control parameters are formed according to the sensing parameters corresponding to the modules identified by the mode identification unit and then are provided for the control signal processing unit. Here, the perceptual parameters required for pattern recognition are preset according to standard procedures, such as: the basic test in the load test requires that the loading speed is 50-100 kN/min, and the load holding observation time is 1, 2, 3, 5, 6 and 10 min; the load holding observation times for the creep test were performed at 1, 2, 3, 4, 5, 10, 15, … …, 330 and 360 min. The requirement difference between the modes is very large, so that dynamic adaptation is required to be performed through real-time perception fusion according to the requirement parameters, and the control parameters can also be understood as adjustment parameters, namely, the parameters are adjusted according to the real-time perception information, so as to meet the requirement of perception parameters corresponding to the currently identified module.
And the control signal processing unit is used for controlling the transmission function module in the test process according to the received control parameters and the control strategy formed by the mode identification unit so as to enable the transmission function module to work under the perception parameters corresponding to the identified mode. Control strategies herein include, but are not limited to, control instructions.
In the actual operation process, the transmission function module only needs to adopt the existing transmission function module. In this embodiment, the transmission function module includes a power source unit, a power transmission unit connected to the power source unit, and an action execution unit connected to the power transmission unit. The power source unit provides power for driving the action execution unit, which comprises but is not limited to electric and pneumatic hydraulic oil pumps and the like, and transmits the power to the action execution unit through the power transmission unit; the power transmission unit comprises but is not limited to a high-pressure pump head, an electromagnetic valve, a motor, a gear, a bearing connector and the like; the action execution unit, the counterforce device and the clamp device apply and release load to the anchor rod in the test process, and the action execution unit, the counterforce device and the clamp device comprise a feed-through jack, a front clamping jack, a torque wrench and the like.
In this embodiment, this stock load test robot still includes the perception function module of being connected with intelligent control module, the perception function module measures the perception to the parameter of stock load test process to the parameter of measuring the perception sends intelligent control module to. The sensing function module comprises but is not limited to a load sensor and a displacement sensor which are arranged on the transmission function module, a state monitoring sensor (such as a hydraulic sensor, a flowmeter, a temperature sensor and the like) which is arranged in the transmission function module, and input and output equipment (such as a camera, a touch screen, a keyboard, a mouse and the like) in the human-computer interaction function module.
In order to more intuitively know the test condition, the anchor rod load test robot further comprises a data processing function module connected with the intelligent control module, wherein the data processing function module forms corresponding data results according to the sensed parameters measured by the sensing function module and the corresponding preset test scheme, and generates test reports, including but not limited to load displacement curves, load time curves, displacement time curves and various result data reports. The data processing function module can also self-define a data result report according to the test scheme identified by the mode, quickly extract result calculation parameters in the test process through the identified test parameters, and finish the intelligent generation and issuing of the data report and the test report.
In the preferred scheme of this embodiment, each unit of the transmission function module is equipped with or integrated with a corresponding state monitoring sensor, monitors the working operation state of each unit component in real time, and sends the working operation state information to the sensing function module, the data processing function module and the intelligent control module.
The invention also provides a control method based on the anchor rod load test robot, at least one test scheme is preset through man-machine interaction, and the test scheme selected by man-machine interaction is identified; generating a control strategy according to the selected test scheme so as to control the transmission function module to perform anchor rod load test on the anchor rod; measuring and sensing parameters of the anchor rod load test process in real time; and forming a corresponding data result according to the parameters obtained by real-time measurement and perception and the corresponding test scheme.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. The utility model provides an stock load test robot which characterized in that includes: the intelligent control module and the transmission function module are connected with the intelligent control module;
at least one test scheme is preset in the intelligent control module, the test scheme is selected, test parameters corresponding to the selected test scheme are extracted, and a control strategy for controlling the transmission function module to work is formed; and the transmission function module performs anchor rod load test corresponding to the selected test scheme on the anchor rod according to the control strategy.
2. The anchor rod load test robot of claim 1, further comprising a human-computer interaction function module connected with the intelligent control module, wherein the human-computer interaction function module is used for information interaction between an operator and equipment in the anchor rod load test process and presetting and selecting a test scheme.
3. The anchor rod load test robot of claim 1, further comprising a sensing function module connected with the intelligent control module, wherein the sensing function module measures and senses parameters of the anchor rod load test process and sends the measured and sensed parameters to the intelligent control module.
4. The anchor rod load test robot of claim 3, further comprising a data processing function module connected with the intelligent control module, wherein the data processing function module generates a test report according to sensed parameters measured by the sensing function module and a preset test scheme.
5. The anchor rod load test robot of claim 3, wherein the sensing function module comprises a load sensor, a displacement sensor and a state monitoring sensor built in the transmission function module.
6. The anchor rod load test robot of claim 1, wherein the transmission function module comprises a power source unit, a power transmission unit connected with the power source unit, and an action execution unit connected with the power transmission unit:
the power source unit provides power for driving the action execution unit and transmits the power to the action execution unit through the power transmission unit, and the action execution unit, the counterforce device and the clamp device apply and release load to the anchor rod in the test process.
7. The anchor rod load test robot of claim 6, wherein each unit of the transmission function module is equipped with or integrated with a corresponding state monitoring sensor, monitors the working operation state of each unit component in real time, and sends the working operation state information to the sensing function module, the data processing function module and the intelligent control module.
8. The anchor rod load testing robot of claim 2, wherein the intelligent control module comprises:
the mode identification unit is used for identifying a test scheme provided or selected by the man-machine interaction functional module and forming a control strategy according to the test scheme;
the perception data fusion unit is used for perceiving various perception information in the test process in real time, forming control parameters according to perception parameters required by mode identification and providing the control parameters to the control signal processing unit;
and the control signal processing unit is used for controlling the transmission function module in the test process according to the received control parameters and the control strategy formed by the mode identification unit.
9. The anchor rod load test robot of claim 2, wherein the human-computer interaction function module comprises an input unit and an output unit, a test scheme and parameter adjustment and control are preset through the input unit, and data in the test process are checked, called and adjusted in real time through the output unit.
10. A control method of a bolt load test robot based on any one of claims 1 to 9,
presetting at least one test scheme through human-computer interaction, and identifying the test scheme selected by the human-computer interaction;
generating a control strategy according to the selected test scheme so as to control the transmission function module to perform anchor rod load test on the anchor rod;
measuring and sensing parameters of the anchor rod load test process in real time;
and forming a corresponding data result according to the parameters obtained by real-time measurement and perception and the corresponding test scheme.
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