A flexible system control method for steel pile trolley of cutter suction dredger

Abstract

The present invention discloses a flexible system control method for a steel pile trolley of a cutter suction dredger, wherein the flexible system comprises a nitrogen generator, an outlet valve, a first non-return valve, a second non-return valve, a third non-return valve, a booster pump, a low-pressure spare gas cylinder, a pressure relief solenoid valve, a pressurizing solenoid valve, a high-pressure spare gas cylinder, a 1# pressure-maintaining solenoid valve, a 1# pressure-maintaining working gas cylinder, a 2# pressure-maintaining solenoid valve, a 2# pressure-maintaining working gas cylinder, a 1# accumulator, a 2# accumulator, a left upper trolley buffer cylinder, a right upper trolley buffer cylinder, a right upper trolley travel cylinder, a left upper trolley travel cylinder, a right upper synchronous cylinder, and a left upper synchronous cylinder; the flexible system control method is divided into three stages: a system pre-pressurization stage, a control parameter setting stage, and an automatic control stage. The present invention realizes the automatic control of the flexible system of the steel pile trolley of the cutter suction dredger at different working water depths, improves the safety of the ship and the construction efficiency, and greatly increases the adaptability of the ship in high sea conditions.

Description

Technical Field

[0001] The invention relates to the technical field of dredging ship engineering, and in particular to a flexible system control method of a steel pile trolley of a cutter suction dredger. Background Art

[0002] With the continuous expansion of domestic and international dredging market demand, cutter suction dredgers, as the main dredging equipment for waterway dredging and port construction, are also developing in the direction of large-scale. The structural design and dredging operation system of large cutter suction dredgers are also moving towards high-level directions such as intelligence and adaptability to high sea conditions in line with market demand.

[0003] Among them, the positioning steel pile trolley system is a key core component of large-scale cutter suction dredgers, which is particularly important for the safe construction and efficient positioning control of ships. The main positioning pile is generally inserted longitudinally into the trolley slotted at the bow or stern of the ship, and the trolley moves forward and backward on the construction centerline under the action of the trolley travel cylinder to complete the construction and ship moving operations of the dredger. When the trolley steps forward or backward to a limited full stroke and needs to move the ship or slow down the pile, mud is placed under the positioning auxiliary pile, and after the positioning main pile is lifted to a certain height, the control trolley travel cylinder resets the trolley position to zero, mud is placed under the positioning main pile, and the positioning auxiliary pile is raised to start the next cycle of construction operations.

[0004] At present, the positioning steel pile trolleys of most cutter suction dredgers are rigidly connected to the hull. This connection method and positioning pile control method will cause the positioning steel pile trolley system to generate large additional forces and moments when the ship is operating under unsheltered and high wave conditions, increasing the risk of shear failure of the steel piles. Summary of the invention

[0005] In order to solve the problems existing in the prior art, the present invention provides a control method for the flexible system of the steel pile trolley of a cutter suction dredger. By setting a flexible buffer and realizing automatic control, sufficient rigidity between the positioning steel pile trolley and the hull structure is ensured to meet the hull positioning requirements, and the positioning steel pile trolley system is ensured to have a certain flexibility when the ship is operating in high sea conditions. When a long-period large surge acts on the hull to generate a large torque on the positioning steel pile trolley system, it is ensured that the positioning steel pile trolley system has a certain buffer along the longitudinal direction of the hull, effectively preventing the positioning pile from shearing damage, improving the safety of the ship and the construction efficiency, and greatly increasing the adaptability of the ship in high sea conditions.

[0006] The present invention is implemented as follows: a control method for a flexible system of a steel pile trolley of a cutter suction dredger, wherein the flexible system includes a nitrogen generator, an outlet valve, a first one-way valve, a second one-way valve, a third one-way valve, a booster pump, a low-pressure spare gas cylinder, a pressure relief solenoid valve, a pressurizing solenoid valve, a high-pressure spare gas cylinder, a 1# pressure-maintaining solenoid valve, a 1# pressure-maintaining working gas cylinder, a 2# pressure-maintaining solenoid valve, a 2# pressure-maintaining working gas cylinder, a 1# accumulator, a 2# accumulator, a left upper trolley buffer cylinder, a right upper trolley buffer cylinder, a right upper trolley travel cylinder, a left upper trolley travel cylinder, a right upper synchronous cylinder, and a left upper synchronous cylinder;

[0007] The outlet of the nitrogen generator is connected to the inlet of the first one-way valve via an outlet valve, the outlet of the first one-way valve is connected to the low-pressure backup gas cylinder via a pressure relief solenoid valve, the pressure relief solenoid valve is connected in parallel with the second one-way valve and the third one-way valve, the interface of the low-pressure backup gas cylinder is connected to the inlet of the third one-way valve, the outlet of the third one-way valve is connected to the inlet of the second one-way valve, the outlet of the second one-way valve is connected to the outlet of the first one-way valve, and a booster pump is connected in parallel between the second one-way valve and the third one-way valve; the outlet of the first one-way valve is connected to the high-pressure backup gas cylinder via a pressurization solenoid valve, the outlet of the first one-way valve is connected to the 1# pressure-maintaining working gas cylinder via the 1# pressure-maintaining solenoid valve, and the outlet of the first one-way valve is connected to the 2# pressure-maintaining working gas cylinder via the 2# pressure-maintaining solenoid valve;

[0008] A 1# accumulator is connected in parallel between the 1# pressure-maintaining solenoid valve and the 1# pressure-maintaining working gas cylinder, and a 2# accumulator is connected in parallel between the 2# pressure-maintaining solenoid valve and the 2# pressure-maintaining working gas cylinder; the outlet of the 1# accumulator is respectively connected to the upper chamber of the buffer cylinder of the left upper trolley and the upper chamber of the buffer cylinder of the right upper trolley, and the outlet of the 2# accumulator is respectively connected to the lower chamber of the buffer cylinder of the right upper trolley and the lower chamber of the buffer cylinder of the left upper trolley; the piston rod of the buffer cylinder of the left upper trolley is connected to the piston rod of the travel cylinder of the left upper trolley through flange 1, and the piston rod of the buffer cylinder of the right upper trolley is connected to the piston rod of the travel cylinder of the right upper trolley through flange 2;

[0009] One end of the cylinder body of the upper left synchronous cylinder is fixedly connected to flange 1, and the other end is slidably connected to the cylinder body of the upper left trolley buffer cylinder through a slider 1, and the rear end of the piston rod of the upper left synchronous cylinder is fixedly connected to the base of the upper left trolley buffer cylinder; one end of the cylinder body of the upper right synchronous cylinder is fixedly connected to flange 2, and the other end is slidably connected to the cylinder body of the upper right trolley buffer cylinder through a slider 2, and the rear end of the piston rod of the upper right synchronous cylinder is fixedly connected to the base of the upper right trolley buffer cylinder; the lower chamber of the upper left synchronous cylinder is connected to the upper chamber of the upper right synchronous cylinder through an oil pipe, and the upper chamber of the upper left synchronous cylinder is connected to the lower chamber of the upper right synchronous cylinder through an oil pipe;

[0010] The control method of the flexible system is divided into three stages: system pre-pressurization stage, control parameter setting stage and automatic control stage;

[0011] The system pre-pressurization stage: the nitrogen produced by the nitrogen generator separated and purified is supplied to the low-pressure spare gas cylinder, the high-pressure spare gas cylinder, the 1# pressure-maintaining working gas cylinder and the 2# pressure-maintaining working gas cylinder to a certain pressure, and then the system pressure is preset so that the pressure value meets the system minimum adjustment pressure requirement;

[0012] The control parameter setting stage: setting the pressure value of the pressure-maintaining working cylinder corresponding to different working water depths to meet the pressure requirements of the accumulator filling the trolley buffer cylinder or the trolley buffer cylinder draining the accumulator; setting the system pressure lower limit to determine whether it is necessary to supplement the pressure to each cylinder; setting the flexible conversion time value, the system determines whether the flexible control pressure conversion can be completed within the set conversion time. If the flexible control pressure conversion is not completed, the flexible control is automatically exited to protect the safety of each working cylinder;

[0013] The automatic control stage: the system determines whether pressurization or pressure relief is required according to the working pressure of the pressure-maintaining working gas cylinder corresponding to the current working water depth, so as to ensure that the trolley buffer cylinder provides stable pressure to the trolley travel cylinder to prevent shear damage.

[0014] Furthermore, the specific control method for pre-pressurizing the system is: first start the nitrogen generator and open the outlet valve; then open the pressure relief solenoid valve, the pressurization solenoid valve, the 1# pressure-maintaining solenoid valve and the 2# pressure-maintaining solenoid valve at the same time, and start pressurizing the low-pressure spare gas cylinder, the high-pressure spare gas cylinder, the 1# pressure-maintaining working gas cylinder, and the 2# pressure-maintaining working gas cylinder; after pressurizing to the preset pressure value, close the pressure relief solenoid valve, the pressurization solenoid valve, the 1# pressure-maintaining solenoid valve and the 2# pressure-maintaining solenoid valve; finally, close the outlet valve and stop the nitrogen generator.

[0015] Furthermore, the automatic control stage specifically includes: pressure relief control, pressurization control and emergency pressurization control.

[0016] Furthermore, the specific control method of the pressure relief control is: open 1# pressure-maintaining solenoid valve, 2# pressure-maintaining solenoid valve and pressure relief solenoid valve, start the pressure relief control timer, 1# pressure-maintaining working gas cylinder and 2# pressure-maintaining working gas cylinder begin to relieve pressure to the low-pressure standby gas cylinder, the pressure of the two pressure-maintaining working gas cylinders decreases, and the pressure of the low-pressure standby gas cylinder increases; within the preset flexible conversion time, when the pressure of the two pressure-maintaining working gas cylinders drops to the pressure range corresponding to the stable operation of the trolley buffer cylinder under the current working water depth conditions, the flexible control pressure conversion is completed, and the 1# pressure-maintaining solenoid valve, 2# pressure-maintaining solenoid valve and pressure relief solenoid valve are closed; otherwise, the flexible control pressure conversion fails, the system alarms, exits the flexible control to the rigid state, and closes 1# pressure-maintaining solenoid valve, 2# pressure-maintaining solenoid valve and pressure relief solenoid valve.

[0017] Furthermore, the specific control method of the pressurization control is: open the 1# pressure-maintaining solenoid valve, the 2# pressure-maintaining solenoid valve and the pressurization solenoid valve, start the pressurization control timer, and the high-pressure standby gas cylinder begins to pressurize the two pressure-maintaining working gas cylinders. The pressure of the two pressure-maintaining working gas cylinders increases, and the pressure of the high-pressure standby gas cylinder decreases; within the preset flexible conversion time, when the pressure of the two pressure-maintaining working gas cylinders rises to the pressure range corresponding to the stable operation of the trolley buffer cylinder under the current working water depth conditions, the flexible control pressure conversion is completed, and the 1# pressure-maintaining solenoid valve, the 2# pressure-maintaining solenoid valve and the pressurization solenoid valve are closed; otherwise, the flexible control pressure conversion fails, the system alarms, exits the flexible control to the rigid state, and closes the 1# pressure-maintaining solenoid valve, the 2# pressure-maintaining solenoid valve and the pressurization solenoid valve.

[0018] Furthermore, the specific control method of the emergency pressurization control is: open the pressure relief solenoid valve, close the pressurization solenoid valve, and use the booster pump to circulate oil filling and oil draining to add the gas in the low-pressure spare gas cylinder into the two pressure-maintaining working gas cylinders. During the pressurization process, when the pressure of the high-pressure spare gas cylinder or the low-pressure spare gas cylinder is lower than the lower limit of the system pressure, the system alarms, exits the flexible control to the rigid state, and starts the nitrogen generator to perform system pre-pressurization control again.

[0019] Furthermore, the emergency pressurization control only allows the low-pressure spare gas cylinder to be used to replenish the pressure of the two pressure-maintaining working gas cylinders in a short-term low-pressure interval.

[0020] Furthermore, during the entire flexible control process, it is necessary to ensure that the trolley moves in a horizontal direction to avoid excessive twisting to the left or right and ensure smooth walking. The specific control method is: when the trolley buffer cylinder is actuated, the synchronous cylinder connected to it performs passive oil injection or oil leakage control to ensure the consistency of the movements of the two trolley buffer cylinders to avoid excessive twisting of the trolley to the left or right, which causes excessive force on the side of the trolley and causes walking difficulties or damage to the trolley.

[0021] Furthermore, the low-pressure spare gas cylinder, the high-pressure spare gas cylinder, the 1# pressure-maintaining working gas cylinder and the 2# pressure-maintaining working gas cylinder are all provided with pressure sensors.

[0022] Furthermore, the booster pump is provided with a limit switch. Compared with the prior art, the present invention has the following advantages and

[0023] Beneficial effects:

[0024] 1. The present invention realizes the arrangement of the flexible system of the steel pile trolley without losing the effective travel of the trolley, and realizes the automatic control of the flexible function of the steel pile trolley through automatic control, which not only prevents the steel pile from being sheared due to excessive force during high-wave operations, but also avoids excessive twisting of the trolley to the left or right during the flexible control process, causing walking difficulties or damage to the trolley, by passively controlling the oil filling and unloading of the synchronous cylinder, thereby ensuring the synchronization of the trolley travel cylinder in the horizontal direction.

[0025] 2. The flexible system control method of the steel pile trolley provided by the present invention realizes the automatic control of the flexible system of the steel pile trolley of the cutter suction dredger at different working water depths, thereby improving the safety of the ship and the construction efficiency, and greatly increasing the adaptability of the ship to construction operations in high sea conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A system structure diagram of the flexible system of the steel pile trolley of the cutter suction dredger provided by the present invention;

[0027] Figure 2 A control flow chart of a control method for a flexible system of a steel pile trolley of a cutter suction dredger provided by the present invention.

[0028] In the figure: 1. nitrogen generator; 2. outlet valve; 3. first non-return valve; 4. second non-return valve; 5. third non-return valve; 6. booster pump; 7. low-pressure spare gas cylinder; 8. pressure relief solenoid valve; 9. pressurization solenoid valve; 10. high-pressure spare gas cylinder; 11. 2# pressure-maintaining working gas cylinder; 12. 2# accumulator; 13. 2# pressure-maintaining solenoid valve; 14. 1# pressure-maintaining solenoid valve; 15. 1# pressure-maintaining working gas cylinder; 16. 1# accumulator; 17. upper right trolley buffer cylinder; 18. upper left trolley buffer cylinder; 19. upper right synchronous cylinder; 20. upper left synchronous cylinder; 21. upper right trolley travel cylinder; 22. upper left trolley travel cylinder; 23. flange one; 24. flange two; 25. slider one; 26. slider two. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0030] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as “upper”, “lower”, “front”, “back”, “left”, “right”, “top”, “bottom”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0031] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] Implementation

[0033] See also Figure 1 , this embodiment provides a control method for a flexible system of a steel pile trolley of a cutter suction dredger, wherein the flexible system includes a nitrogen generator 1, an outlet valve 2, a first one-way valve 3, a second one-way valve 4, a third one-way valve 5, a booster pump 6, a low-pressure spare gas cylinder 7, a pressure relief solenoid valve 8, a pressurizing solenoid valve 9, a high-pressure spare gas cylinder 10, a 1# pressure-maintaining solenoid valve 14, a 1# pressure-maintaining working gas cylinder 15, a 2# pressure-maintaining solenoid valve 13, a 2# pressure-maintaining working gas cylinder 11, a 1# accumulator 16, a 2# accumulator 12, a left upper trolley buffer cylinder 18, a right upper trolley buffer cylinder 17, a right upper trolley travel cylinder 21, a left upper trolley travel cylinder 22, a right upper synchronous cylinder 19, a left upper synchronous cylinder 20, a flange 1 23, a flange 2 24, a slider 1 25, and a slider 2 26;

[0034] The outlet of the nitrogen generator 1 is connected to the inlet of the first one-way valve 3 through the outlet valve 2, the outlet of the first one-way valve 3 is connected to the low-pressure standby gas cylinder 7 through the pressure relief solenoid valve 8, the pressure relief solenoid valve 8 is connected in parallel with the second one-way valve 4 and the third one-way valve 5, the interface of the low-pressure standby gas cylinder 7 is connected to the inlet of the third one-way valve 5, the outlet of the third one-way valve 5 is connected to the inlet of the second one-way valve 4, the outlet of the second one-way valve 4 is connected to the outlet of the first one-way valve 3, and the booster pump 6 is connected in parallel between the second one-way valve 4 and the third one-way valve 5; the outlet of the first one-way valve 3 is connected to the high-pressure standby gas cylinder 10 through the pressurization solenoid valve 9, the outlet of the first one-way valve 3 is connected to the 1# pressure-maintaining working gas cylinder 15 through the 1# pressure-maintaining solenoid valve 14, and the outlet of the first one-way valve 3 is connected to the 2# pressure-maintaining working gas cylinder 11 through the 2# pressure-maintaining solenoid valve 13;

[0035] A 1# accumulator 16 is connected in parallel between the 1# pressure-maintaining solenoid valve 14 and the 1# pressure-maintaining working gas cylinder 15, and a 2# accumulator 12 is connected in parallel between the 2# pressure-maintaining solenoid valve 13 and the 2# pressure-maintaining working gas cylinder 11; the outlet of the 1# accumulator 16 is respectively connected to the upper cavity of the upper left trolley buffer cylinder 18 and the upper cavity of the upper right trolley buffer cylinder 17, and the outlet of the 2# accumulator 12 is respectively connected to the lower cavity of the upper right trolley buffer cylinder 17 and the lower cavity of the upper left trolley buffer cylinder 18; the piston rod of the upper left trolley buffer cylinder 18 is connected to the piston rod of the upper left trolley travel cylinder 22 through a flange 1 23, and the piston rod of the upper right trolley buffer cylinder 17 is connected to the piston rod of the upper right trolley travel cylinder 21 through a flange 2 24;

[0036] One end of the cylinder body of the upper left synchronous cylinder 20 is fixedly connected to a flange 1 23, and the other end is slidably connected to the cylinder body of the upper left trolley buffer cylinder 18 through a slider 1 25, and the rear end of the piston rod of the upper left synchronous cylinder 20 is fixedly connected to the base of the upper left trolley buffer cylinder 18; one end of the cylinder body of the upper right synchronous cylinder 19 is fixedly connected to a flange 24, and the other end is slidably connected to the cylinder body of the upper right trolley buffer cylinder 17 through a slider 26, and the rear end of the piston rod of the upper right synchronous cylinder 19 is fixedly connected to the base of the upper right trolley buffer cylinder 17; the lower chamber of the upper left synchronous cylinder 20 is connected to the upper chamber of the upper right synchronous cylinder 19 through an oil pipe, and the upper chamber of the upper left synchronous cylinder 20 is connected to the lower chamber of the upper right synchronous cylinder 19 through an oil pipe. When the trolley buffer cylinder on one side is actuated, the synchronous cylinder rigidly connected to it will move passively. The pressure change in the rod cavity of the synchronous cylinder on either side will be transmitted to the rod cavity of the synchronous cylinder on the other side that is cross-connected with it, forcing it to produce an equal amount of movement, thereby realizing the synchronous action of the upper left buffer cylinder and the upper right buffer cylinder.

[0037] The low-pressure spare gas cylinder 7 , the high-pressure spare gas cylinder 10 , the 1# pressure-maintaining working gas cylinder 15 and the 2# pressure-maintaining working gas cylinder 11 are all provided with pressure sensors.

[0038] The booster pump 6 is provided with a limit switch.

[0039] The flexible system control method is divided into three stages: system pre-pressurization stage, control parameter setting stage and automatic control stage; the hardware for implementing the control method can be a PLC programmable logic controller, and the control process is as follows Figure 2 shown.

[0040] The details are as follows:

[0041] System pre-pressurization stage: The nitrogen produced by the nitrogen generator 1, which is separated and purified, is supplied to the low-pressure spare gas cylinder 7, the high-pressure spare gas cylinder 10, the 1# pressure-maintaining working gas cylinder 15 and the 2# pressure-maintaining working gas cylinder 11 to a certain pressure, and then the system pressure is preset to make the pressure value meet the system's minimum adjustment pressure requirement.

[0042] The specific control method of system pre-pressurization is: first start the nitrogen generator 1 and open the outlet valve 2; then open the pressure relief solenoid valve 8, the pressurization solenoid valve 9, the 1# pressure-maintaining solenoid valve 14 and the 2# pressure-maintaining solenoid valve 13 at the same time, and start to pressurize the low-pressure spare gas cylinder 7, the high-pressure spare gas cylinder 10, the 1# pressure-maintaining working gas cylinder 15 and the 2# pressure-maintaining working gas cylinder 11; after the pressure is charged to the preset pressure value, close the pressure relief solenoid valve 8, the pressurization solenoid valve 9, the 1# pressure-maintaining solenoid valve 14 and the 2# pressure-maintaining solenoid valve 13; finally, close the outlet valve 2 and stop the nitrogen generator 1.

[0043] Control parameter setting stage: set the pressure value of the pressure-maintaining working gas cylinder corresponding to different working water depths to meet the pressure requirements of the accumulator filling the trolley buffer cylinder or the trolley buffer cylinder discharging oil to the accumulator, adjust the pressure of the steel piles, and prevent shear damage; set the system pressure lower limit to determine whether it is necessary to supplement the pressure to the low-pressure spare gas cylinder 7, the high-pressure spare gas cylinder 10, the 1# pressure-maintaining working gas cylinder 15 and the 2# pressure-maintaining working gas cylinder 11; set the flexible conversion time value, the system determines whether the flexible control pressure conversion can be completed within the set conversion time. If the flexible control pressure conversion is not completed, the flexible control is automatically exited to protect the safety of each working cylinder.

[0044] In this embodiment, the minimum pressure of the low-pressure spare gas cylinder 7 to meet the system adjustment requirements is Pa 低 , the actual pressure value is Ps 低 ; The minimum pressure of the high-pressure spare gas cylinder 10 to meet the system adjustment requirements is Pa 高 , the actual pressure value is Ps 高 ; The minimum pressures of 1# pressure-maintaining working gas cylinder 15 and 2# pressure-maintaining working gas cylinder 11 to meet the system adjustment requirements are Pa1 and Pa2, and the actual pressure values ​​are Ps1 and Ps2; and Pa 低 ≤Pa1≈Pa2≤Pa 高 ;

[0045] The judgment condition that the system pre-charge is completed and the flexible control function is ready is: Ps 低 ≥Pa 低 And Ps 高 ≥Pa 高 And Ps1≥Pa1 and Ps2≥Pa2.

[0046] In this embodiment, the steel pile is divided into three intervals according to its working water depth, namely: interval 1 [D 1L , D 1H ); interval 2[D 2L , D 2H ); interval 3[D 3L , D 3H ), and D 1L <D 1H≤D 2L <D 2H ≤D 3L <D 3H ;

[0047] Set the pressure of the 1# pressure-maintaining working gas cylinder 15 and the 2# pressure-maintaining working gas cylinder 11 corresponding to interval 1 to P 11 , P 12 ;

[0048] The pressure of the 1# pressure-maintaining working gas cylinder 15 and the 2# pressure-maintaining working gas cylinder 11 corresponding to interval 2 is P 21 , P 22 ;

[0049] The pressure of the 1# pressure-maintaining working gas cylinder 15 and the 2# pressure-maintaining working gas cylinder 11 corresponding to interval 3 is P 31 , P 32 , and P 11 >P 21 >P 31 , P 12 >P 22 >P 32 ;

[0050] When flexible control is working, the pressure control error of each gas cylinder is [-0.15, +0.1];

[0051] The lower limit of the pressure of the low-pressure spare gas cylinder 7 is P L低 , and Pa 低 >P L低 ;

[0052] The lower limit of the pressure of the high-pressure spare gas cylinder 10 is P L高 , and Pa 高 >P L高 ;

[0053] The lower limit of pressure of 1# pressure-maintaining working gas cylinder 15 is P L1 , and Pa1>P L1 ;

[0054] The lower limit of pressure of 2# pressure-maintaining working gas cylinder 11 is P L2 , and Pa2>P L2 ;

[0055] The time limit of the flexible switching pressurization control process is T in ;

[0056] The time limit of the flexible switching pressure relief control process is T de .

[0057] Automatic control stage: The system determines whether pressurization or pressure relief is needed based on the working pressure of the pressure-maintaining working gas cylinder corresponding to the current working water depth, so as to ensure that the trolley buffer cylinder provides stable pressure to the trolley travel cylinder to prevent shear damage; specifically includes: pressure relief control, pressurization control and emergency pressurization control.

[0058] When the working water depth increases and the allowable pressure of the steel piles decreases, the pressure-maintaining working gas cylinder releases pressure, the pressure of the low-pressure spare gas cylinder 7 increases, and the trolley buffer cylinder unloads oil to the accumulator; when the working water depth decreases and the allowable pressure of the steel piles increases, the pressure of the pressure-maintaining working gas cylinder increases, the pressure of the high-pressure spare gas cylinder 10 decreases, and the accumulator fills oil into the trolley buffer cylinder; when the pressure of the high-pressure spare gas cylinder 10 is not enough to provide the pressure required for pressurization of the pressure-maintaining working gas cylinder, emergency pressurization is started, and the pressure of the low-pressure spare gas cylinder 7 is added to the pressure-maintaining working gas cylinder.

[0059] In this embodiment, the actual working water depth of the steel pile is D c Satisfy D 1L ≤D c <D 1H When P 11 -0.15<Ps1<P 11 +0.1,P 12 -0.15≤Ps2<P 12 +0.1, the pressure of 1# pressure-maintaining working gas cylinder 15 and 2# pressure-maintaining working gas cylinder 11 is maintained, and the flexible control pressure conversion is completed; if Ps1>P 11 +0.1, Ps2>P 12 +0.1, then the 1# pressure-maintaining working gas cylinder 15 and the 2# pressure-maintaining working gas cylinder 11 are depressurized; if Ps1<P 11 -0.15, Ps2<P 11 -0.15, then the 1# pressure-maintaining working gas cylinder 15 and the 2# pressure-maintaining working gas cylinder 11 are pressurized.

[0060] Actual working water depth of steel pile D c Satisfy D 2L ≤D c <D 2H When P 21 -0.15<Ps1<P 21 +0.1,P 22 -0.15≤Ps2<P 22 +0.1, the pressure of 1# pressure-maintaining working gas cylinder 15 and 2# pressure-maintaining working gas cylinder 11 is maintained, and the flexible control pressure conversion is completed; if Ps1>P 21 +0.1, Ps2>P 22 +0.1, then the 1# pressure-maintaining working gas cylinder 15 and the 2# pressure-maintaining working gas cylinder 11 are depressurized; if Ps1<P 21 -0.15, Ps2<P 12-0.15, then the 1# pressure-maintaining working gas cylinder 15 and the 2# pressure-maintaining working gas cylinder 11 are pressurized.

[0061] Actual working water depth of steel pile D c Satisfy D 3L ≤D c <D 3H When P 31 -0.15<Ps1<P 31 +0.1,P 32 -0.15≤Ps2<P 32 +0.1, the pressure of 1# pressure-maintaining working gas cylinder 15 and 2# pressure-maintaining working gas cylinder 11 is maintained, and the flexible control pressure conversion is completed; if Ps1>P 31 +0.1, Ps2>P 32 +0.1, then the 1# pressure-maintaining working gas cylinder 15 and the 2# pressure-maintaining working gas cylinder 11 are depressurized; if Ps1<P 31 -0.15, Ps2<P 32 -0.15, then the 1# pressure-maintaining working gas cylinder 15 and the 2# pressure-maintaining working gas cylinder 11 are pressurized.

[0062] The specific control process of the pressure relief control is as follows: open the 1# pressure-maintaining solenoid valve 14, the 2# pressure-maintaining solenoid valve 13 and the pressure relief solenoid valve 8, start the pressure relief control timer (the pressure relief control timer is set in the control system or in the time timer preset in the control program), the 1# pressure-maintaining working gas cylinder 15 and the 2# pressure-maintaining working gas cylinder 11 start to release pressure to the low-pressure standby gas cylinder 7, the pressure of the two pressure-maintaining working gas cylinders decreases, and the pressure of the low-pressure standby gas cylinder 7 increases; at the preset flexible conversion time T de When the pressures Ps1 and Ps2 of the two pressure-maintaining working gas cylinders drop to the pressure range corresponding to the stable operation of the trolley buffer cylinder under the current working water depth conditions, the flexible control pressure conversion is completed, and the 1# pressure-maintaining solenoid valve 14, the 2# pressure-maintaining solenoid valve 13 and the pressure relief solenoid valve 8 are closed; otherwise, the flexible control pressure conversion fails, the system alarms, exits the flexible control to the rigid state, closes the 1# pressure-maintaining solenoid valve 14, the 2# pressure-maintaining solenoid valve 13 and the pressure relief solenoid valve 8, and the flexible control process ends.

[0063] The specific control process of the pressurization control is as follows: open the 1# pressure-maintaining solenoid valve 14, the 2# pressure-maintaining solenoid valve 13 and the pressurization solenoid valve 9, start the pressurization control timer (the pressurization control timer is also a time timer set in the control system or preset in the control program), and the high-pressure standby gas cylinder 10 starts to pressurize the two pressure-maintaining working gas cylinders, the pressure of the two pressure-maintaining working gas cylinders increases, and the pressure of the high-pressure standby gas cylinder 10 decreases; at the preset flexible conversion time T inWhen the pressures Ps1 and Ps2 of the two pressure-maintaining working gas cylinders rise to the pressure range corresponding to the stable operation of the trolley buffer cylinder under the current working water depth conditions, the flexible control pressure conversion is completed, and the 1# pressure-maintaining solenoid valve 14, the 2# pressure-maintaining solenoid valve 13 and the pressurizing solenoid valve 9 are closed; otherwise, the flexible control pressure conversion fails, the system alarms, exits the flexible control to the rigid state, closes the 1# pressure-maintaining solenoid valve 14, the 2# pressure-maintaining solenoid valve 13 and the pressurizing solenoid valve 9, and the flexible control process ends.

[0064] The specific control process of the emergency pressurization control is: open the pressure relief solenoid valve 8, close the pressurization solenoid valve 9, and the booster pump 6 cyclically fills and drains oil to fill the gas in the low-pressure spare gas cylinder 7 into the two pressure-maintaining working gas cylinders. During the pressurization process, when the pressure of the high-pressure spare gas cylinder 10 or the low-pressure spare gas cylinder 7 is lower than the lower limit of the system pressure, the system alarms, exits the flexible control to the rigid state, and turns on the nitrogen generator 1 to perform system pre-pressurization control again.

[0065] The emergency pressurization control only allows the low-pressure spare gas cylinder 7 to be used to replenish the pressure of the two pressure-maintaining working gas cylinders in a short-term low-pressure interval.

[0066] During the entire flexible control process, it is necessary to ensure that the trolley moves in the horizontal direction to avoid excessive twisting to the left or right and ensure smooth walking. The specific control method is: when the trolley buffer cylinder is in motion, the synchronous cylinder connected to it performs passive oil injection or oil leakage control to ensure the consistency of the two trolley buffer cylinders, avoiding excessive force on the side of the trolley due to excessive twisting of the trolley to the left or right, causing walking difficulties or damage to the trolley. The flexible control pressure conversion is completed, the steel pile trolley flexible system works normally, and enters the next flexible control cycle.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents, and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling a flexible system of a steel pile trolley of a cutter suction dredger, characterized in that: The flexible system includes a nitrogen generator, an outlet valve, a first one-way valve, a second one-way valve, a third one-way valve, a booster pump, a low-pressure spare gas cylinder, a pressure relief solenoid valve, a pressurizing solenoid valve, a high-pressure spare gas cylinder, a 1# pressure-maintaining solenoid valve, a 1# pressure-maintaining working gas cylinder, a 2# pressure-maintaining solenoid valve, a 2# pressure-maintaining working gas cylinder, a 1# accumulator, a 2# accumulator, a left upper trolley buffer cylinder, a right upper trolley buffer cylinder, a right upper trolley travel cylinder, a left upper trolley travel cylinder, a right upper synchronous cylinder, and a left upper synchronous cylinder; The outlet of the nitrogen generator is connected to the inlet of the first one-way valve via an outlet valve, the outlet of the first one-way valve is connected to the low-pressure backup gas cylinder via a pressure relief solenoid valve, the pressure relief solenoid valve is connected in parallel with the second one-way valve and the third one-way valve, the interface of the low-pressure backup gas cylinder is connected to the inlet of the third one-way valve, the outlet of the third one-way valve is connected to the inlet of the second one-way valve, the outlet of the second one-way valve is connected to the outlet of the first one-way valve, and a booster pump is connected in parallel between the second one-way valve and the third one-way valve; the outlet of the first one-way valve is connected to the high-pressure backup gas cylinder via a pressurization solenoid valve, the outlet of the first one-way valve is connected to the 1# pressure-maintaining working gas cylinder via the 1# pressure-maintaining solenoid valve, and the outlet of the first one-way valve is connected to the 2# pressure-maintaining working gas cylinder via the 2# pressure-maintaining solenoid valve; A 1# accumulator is connected in parallel between the 1# pressure-maintaining solenoid valve and the 1# pressure-maintaining working gas cylinder, and a 2# accumulator is connected in parallel between the 2# pressure-maintaining solenoid valve and the 2# pressure-maintaining working gas cylinder; the outlet of the 1# accumulator is respectively connected to the upper chamber of the buffer cylinder of the left upper trolley and the upper chamber of the buffer cylinder of the right upper trolley, and the outlet of the 2# accumulator is respectively connected to the lower chamber of the buffer cylinder of the right upper trolley and the lower chamber of the buffer cylinder of the left upper trolley; the piston rod of the buffer cylinder of the left upper trolley is connected to the piston rod of the travel cylinder of the left upper trolley through flange 1, and the piston rod of the buffer cylinder of the right upper trolley is connected to the piston rod of the travel cylinder of the right upper trolley through flange 2; One end of the cylinder body of the upper left synchronous cylinder is fixedly connected to flange 1, and the other end is slidably connected to the cylinder body of the upper left trolley buffer cylinder through a slider 1, and the rear end of the piston rod of the upper left synchronous cylinder is fixedly connected to the base of the upper left trolley buffer cylinder; one end of the cylinder body of the upper right synchronous cylinder is fixedly connected to flange 2, and the other end is slidably connected to the cylinder body of the upper right trolley buffer cylinder through a slider 2, and the rear end of the piston rod of the upper right synchronous cylinder is fixedly connected to the base of the upper right trolley buffer cylinder; the lower chamber of the upper left synchronous cylinder is connected to the upper chamber of the upper right synchronous cylinder through an oil pipe, and the upper chamber of the upper left synchronous cylinder is connected to the lower chamber of the upper right synchronous cylinder through an oil pipe; The control method of the flexible system is divided into three stages: system pre-pressurization stage, control parameter setting stage and automatic control stage; The system pre-pressurization stage: the nitrogen produced by the nitrogen generator separated and purified is supplied to the low-pressure spare gas cylinder, the high-pressure spare gas cylinder, the 1# pressure-maintaining working gas cylinder and the 2# pressure-maintaining working gas cylinder to a certain pressure, and then the system pressure is preset so that the pressure value meets the system minimum adjustment pressure requirement; The control parameter setting stage: setting the pressure value of the pressure-maintaining working cylinder corresponding to different working water depths to meet the pressure requirements of the accumulator filling the trolley buffer cylinder or the trolley buffer cylinder draining the accumulator; setting the system pressure lower limit to determine whether it is necessary to supplement the pressure to each cylinder; setting the flexible conversion time value, the system determines whether the flexible control pressure conversion can be completed within the set conversion time. If the flexible control pressure conversion is not completed, the flexible control is automatically exited to protect the safety of each working cylinder; The automatic control stage: the system determines whether pressurization or pressure relief is required according to the working pressure of the pressure-maintaining working gas cylinder corresponding to the current working water depth, so as to ensure that the trolley buffer cylinder provides stable pressure to the trolley travel cylinder to prevent shear damage.

2. The method for controlling the flexible system of the steel pile trolley of the cutter suction dredger according to claim 1 is characterized in that: The specific control method of the system pre-pressurization is: first start the nitrogen generator and open the outlet valve; then open the pressure relief solenoid valve, the pressurization solenoid valve, the 1# pressure-maintaining solenoid valve and the 2# pressure-maintaining solenoid valve at the same time, and start to pressurize the low-pressure spare gas cylinder, the high-pressure spare gas cylinder, the 1# pressure-maintaining working gas cylinder, and the 2# pressure-maintaining working gas cylinder; after the pressure is charged to the preset pressure value, close the pressure relief solenoid valve, the pressurization solenoid valve, the 1# pressure-maintaining solenoid valve and the 2# pressure-maintaining solenoid valve; finally, close the outlet valve and stop the nitrogen generator.

3. The method for controlling the flexible system of the steel pile trolley of the cutter suction dredger according to claim 1 is characterized in that: The automatic control stage specifically includes: pressure relief control, pressurization control and emergency pressurization control.

4. The method for controlling the flexible system of the steel pile trolley of the cutter suction dredger according to claim 3 is characterized in that: The specific control method of the pressure relief control is: open the 1# pressure-maintaining solenoid valve, the 2# pressure-maintaining solenoid valve and the pressure relief solenoid valve, start the pressure relief control timer, the 1# pressure-maintaining working gas cylinder and the 2# pressure-maintaining working gas cylinder begin to relieve pressure to the low-pressure standby gas cylinder, the pressure of the two pressure-maintaining working gas cylinders decreases, and the pressure of the low-pressure standby gas cylinder increases; within the preset flexible conversion time, when the pressure of the two pressure-maintaining working gas cylinders drops to the pressure range corresponding to the stable operation of the trolley buffer cylinder under the current working water depth conditions, the flexible control pressure conversion is completed, and the 1# pressure-maintaining solenoid valve, the 2# pressure-maintaining solenoid valve and the pressure relief solenoid valve are closed; otherwise, the flexible control pressure conversion fails, the system alarms, exits the flexible control to the rigid state, and closes the 1# pressure-maintaining solenoid valve, the 2# pressure-maintaining solenoid valve and the pressure relief solenoid valve.

5. The method for controlling the flexible system of the steel pile trolley of the cutter suction dredger according to claim 3 is characterized in that: The specific control method of the pressurization control is: open the 1# pressure-maintaining solenoid valve, the 2# pressure-maintaining solenoid valve and the pressurization solenoid valve, start the pressurization control timer, and the high-pressure standby gas cylinder begins to pressurize the two pressure-maintaining working gas cylinders. The pressure of the two pressure-maintaining working gas cylinders increases, and the pressure of the high-pressure standby gas cylinder decreases; within the preset flexible conversion time, when the pressure of the two pressure-maintaining working gas cylinders rises to the pressure range corresponding to the stable operation of the trolley buffer cylinder under the current working water depth conditions, the flexible control pressure conversion is completed, and the 1# pressure-maintaining solenoid valve, the 2# pressure-maintaining solenoid valve and the pressurization solenoid valve are closed; otherwise, the flexible control pressure conversion fails, the system alarms, exits the flexible control to the rigid state, and closes the 1# pressure-maintaining solenoid valve, the 2# pressure-maintaining solenoid valve and the pressurization solenoid valve.

6. The method for controlling the flexible system of the steel pile trolley of the cutter suction dredger according to claim 3 is characterized in that: The specific control method of the emergency pressurization control is: open the pressure relief solenoid valve, close the pressurization solenoid valve, and use the booster pump to cyclically fill and drain oil to add the gas in the low-pressure spare gas cylinder into the two pressure-maintaining working gas cylinders. During the pressurization process, when the pressure of the high-pressure spare gas cylinder or the low-pressure spare gas cylinder is lower than the lower limit of the system pressure, the system alarms, exits the flexible control to the rigid state, and starts the nitrogen generator to perform system pre-pressurization control again.

7. The method for controlling the flexible system of the steel pile trolley of the cutter suction dredger according to claim 6, characterized in that: The emergency pressurization control only allows the low-pressure spare gas cylinder to be used to replenish the pressure of the two pressure-maintaining working gas cylinders in a short-term low-pressure interval.

8. The method for controlling the flexible system of the steel pile trolley of the cutter suction dredger according to claim 1, characterized in that: During the entire flexible control process, it is necessary to ensure that the trolley moves in the horizontal direction to avoid excessive twisting to the left or right and ensure smooth walking. The specific control method is: when the trolley buffer cylinder is actuated, the synchronous cylinder connected to it performs passive oil injection or oil leakage control to ensure the consistency of the movements of the two trolley buffer cylinders to avoid excessive twisting of the trolley to the left or right, which causes excessive force on the side of the trolley and causes walking difficulties or damage to the trolley.

9. The method for controlling the flexible system of the steel pile trolley of the cutter suction dredger according to claim 1, characterized in that: The low-pressure spare gas cylinder, the high-pressure spare gas cylinder, the 1# pressure-maintaining working gas cylinder and the 2# pressure-maintaining working gas cylinder are all provided with pressure sensors.

10. The method for controlling the flexible system of the steel pile trolley of the cutter suction dredger according to claim 1, characterized in that: The booster pump is provided with a limit switch.

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