Cutting equipment for underwater cutting of steel piles

Abstract

The present application discloses a cutting device for underwater cutting of steel piles. It includes a hanging beam mechanism, a position and pose adjustment mechanism, a cutting operation mechanism, a horizontal attitude sensor, and a processor. Among them, the hanging beam mechanism is used to be erected at the top of the vertically arranged steel pile body; the cutting operation mechanism is arranged inside the steel pile body and is used to cut the steel pile body inside the steel pile body; the position and pose adjustment mechanism is respectively connected to the hanging beam mechanism and the cutting operation mechanism and is used to adjust the position and pose of the cutting operation mechanism inside the steel pile body; the horizontal attitude sensor is arranged on the cutting operation mechanism and is used to measure the horizontal attitude information of the cutting operation mechanism; and the processor is respectively communicatively connected to the horizontal attitude sensor and the position and pose adjustment mechanism and is used to control the position and pose adjustment mechanism to adjust the horizontal attitude of the cutting operation mechanism according to the horizontal attitude information.

Description

Technical Field

[0001] The present application relates to the field of underwater cutting operations, and particularly to a cutting device for cutting steel piles underwater. Background Art

[0002] In offshore engineering construction, it is often necessary to cut pipe fittings such as jacket foundation steel piles and wind power construction foundation steel piles underwater for various reasons. The steel pile bodies are usually vertically arranged in the ocean. Therefore, the cutting operation mechanism for cutting the steel pile bodies needs to be horizontally arranged relative to the steel pile bodies, so that the starting point and the ending point of the cutting can coincide after the cutting gun head of the cutting operation mechanism rotates one week within the steel pile body, achieving precise cutting.

[0003] In addition, when cutting the steel pile body, the cutting operation mechanism also needs to be firmly fixed within the steel pile body to prevent the movement or vibration of the cutting operation mechanism within the steel pile body from affecting the cutting accuracy. And during the process of fixing the cutting operation mechanism, it is also necessary to ensure that the center of the fixed cutting operation mechanism coincides with the center of the steel pile body, so that the cutting operation mechanism can cut the steel pile body evenly on the circumference.

[0004] Since in the prior art, there is no case of precisely adjusting the horizontal attitude of the cutting operation mechanism, nor can it ensure that the center of the fixed cutting operation mechanism coincides with the center of the steel pile body. As a result, the cutting operation mechanism cannot meet the requirements of high-precision cutting.

[0005] Aiming at the technical problems in the prior art that the horizontal attitude adjustment of the cutting operation mechanism and the fixation within the steel pile body cannot meet the requirements of high-precision cutting, no effective solution has been proposed yet. Summary of the Invention

[0006] The present disclosure provides a cutting device for cutting steel piles underwater to at least solve the technical problems in the prior art that the horizontal attitude adjustment of the cutting operation mechanism and the fixation within the steel pile body cannot meet the requirements of high-precision cutting.

[0007] According to the technical solution of the present disclosure, a cutting device for underwater cutting of steel piles is provided. It includes a suspension beam mechanism, a pose adjustment mechanism, a cutting operation mechanism, a horizontal pose sensor, and a processor. Among them, the suspension beam mechanism is used to be erected at the top of the vertically arranged steel pile body; the cutting operation mechanism is arranged inside the steel pile body and is used to cut the steel pile body inside the steel pile body; the pose adjustment mechanism is respectively connected to the suspension beam mechanism and the cutting operation mechanism and is used to adjust the position and pose of the cutting operation mechanism inside the steel pile body; the horizontal pose sensor is arranged on the cutting operation mechanism and is used to measure the horizontal pose information of the cutting operation mechanism; and the processor is respectively communicatively connected to the horizontal pose sensor and the pose adjustment mechanism and is used to control the pose adjustment mechanism to adjust the horizontal pose of the cutting operation mechanism according to the horizontal pose information.

[0008] In summary, the technical solution of the present disclosure measures the horizontal pose information of the cutting operation mechanism in real time through the horizontal pose sensor arranged on the cutting operation mechanism. Then, the processor obtains the horizontal pose information of the cutting operation mechanism in real time and controls the pose adjustment mechanism to adjust the horizontal pose of the cutting operation mechanism according to the horizontally pose information obtained in real time until the cutting operation mechanism is adjusted to be horizontal. Therefore, the technical solution of the present disclosure no longer requires divers to manually adjust the horizontal pose of the cutting operation mechanism underwater, but adjusts the horizontal pose of the cutting operation mechanism through the control system according to the horizontally pose information of the cutting operation mechanism measured in real time. Therefore, compared with the prior art in which divers manually adjust the horizontal pose of the cutting operation mechanism underwater, the technical solution of the present disclosure greatly improves the accuracy of adjusting the horizontal pose of the cutting operation mechanism. Thus, it solves the technical problem that the prior art cannot accurately adjust the horizontal pose of the cutting operation mechanism, resulting in the cutting operation mechanism not meeting the requirements of high-precision cutting.

[0009] Those skilled in the art will become more apparent about the above and other purposes, advantages, and features of the present application according to the following detailed description of the specific embodiments of the present application in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Some specific embodiments of the present application will be described in detail hereinafter with reference to the accompanying drawings in an exemplary but not restrictive manner. The same reference numerals in the drawings denote the same or similar components or parts. Those skilled in the art should understand that these drawings are not necessarily drawn to scale. In the drawings:

[0011] Figure 1 is a schematic diagram of a cutting device for underwater cutting of steel piles according to an embodiment of the present application;

[0012] Figure 2 is Figure 1 a schematic diagram of the shown suspension beam assembly;

[0013] Figure 3 is Figure 1 a schematic diagram of the telescopic device shown;

[0014] Figure 4A is Figure 1 a schematic diagram of the cutting operation mechanism shown;

[0015] Figure 4B is Figure 1 a side view of the cutting operation mechanism shown;

[0016] Figure 4C a schematic diagram of another example of the cutting operation mechanism;

[0017] Figure 5 is Figure 1 a schematic diagram of the control system of the cutting device shown;

[0018] Figures 6A to 6E shows a schematic diagram of horizontal attitude adjustment of the cutting operation mechanism of the cutting device; and

[0019] Figure 7 shows a schematic diagram of the vibration signal transmitted from the stress sensor to the processor according to an embodiment of the present disclosure. Detailed implementation manners

[0020] It should be noted that, without conflict, the embodiments in the present disclosure and the features in the embodiments may be combined with each other. The present disclosure will be described in detail below with reference to the drawings and in combination with the embodiments.

[0021] In order to enable those skilled in the art to better understand the solution of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

[0022] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances so as to describe the embodiments of the present disclosure herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these process, method, product or device.

[0023] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should also be understood that when the terms "comprising" and / or "including" are used in this specification, they specify the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0024] Figure 1 The figure shows a schematic diagram of a cutting device for underwater cutting of steel piles according to an embodiment of the present application. Figure 5 The figure shows a schematic diagram of the control system of the cutting device. Refer to Figure 1 and Figure 5 As shown, the cutting device includes a suspension beam mechanism 10, a position and attitude adjustment mechanism 20, a cutting operation mechanism 30, a horizontal attitude sensor 401, and a processor 404. The suspension beam mechanism 10 is used to be erected on the top end of a vertically arranged steel pile body 50; the cutting operation mechanism 30 is arranged inside the steel pile body 50 and is used to cut the steel pile body 50 inside the steel pile body 50. The position and attitude adjustment mechanism 20 is respectively connected to the suspension beam mechanism 10 and the cutting operation mechanism 30 and is used to adjust the position and attitude of the cutting operation mechanism 30 inside the steel pile body 50; the horizontal attitude sensor 401 is arranged on the cutting operation mechanism 30 and is used to measure the horizontal attitude information of the cutting operation mechanism 30. The processor 404 is respectively communicatively connected to the horizontal attitude sensor 401 and the position and attitude adjustment mechanism 20 and is used to control the position and attitude adjustment mechanism 20 to adjust the horizontal attitude of the cutting operation mechanism 30 according to the horizontal attitude information. Among them, the processor 404 can be arranged on the suspension beam 10, for example, or the processor 404 can be arranged on the mother ship.

[0025] Specifically, as shown in Figure 1 , the cutting operation mechanism 30 is deployed inside the steel pile body 50. Since the suspension beam mechanism 10 is erected on the top end of the steel pile body 50, the cutting operation mechanism 30 can be suspended inside the steel pile body 50 through the suspension beam mechanism 10 and the position and attitude adjustment mechanism 20.

[0026] After the cutting operation mechanism 30 is deployed inside the steel pile body 50, the processor 404 first controls the position and attitude adjustment mechanism 20 to drive the cutting operation mechanism 30 to linearly move vertically inside the steel pile body 50. For example, the position and attitude adjustment mechanism 20 can be composed of a plurality of telescopic devices 200, so that the processor 404 can adjust the position of the cutting operation mechanism 30 inside the steel pile body 50 by controlling the telescopic amount of the telescopic device 200. Thus, the processor 404 moves the cutting operation mechanism 30 to the cutting position by controlling the position and attitude adjustment mechanism 20.

[0027] In addition, a horizontal attitude sensor 401 is provided on the cutting operation mechanism 30 for measuring the horizontal attitude of the cutting operation mechanism 30. Further, referring to Figure 5 As shown, the processor 404 is communicatively connected to the horizontal attitude sensor 401, so that the horizontal attitude information of the cutting operation mechanism 30 can be obtained in real time.

[0028] Then, when the processor 404 controls the pose adjustment mechanism 20 to move the cutting operation mechanism 30 to the cutting position, it controls the pose adjustment mechanism 20 to adjust the horizontal attitude of the cutting operation mechanism 30 according to the horizontally acquired attitude information in real time until the cutting operation mechanism 30 reaches the horizontal state.

[0029] As described in the background art, in offshore engineering construction, due to various reasons, it is often necessary to cut pipe fittings such as jacket foundation steel piles and wind power construction foundation steel piles underwater. The steel pile bodies are usually vertically arranged in the ocean. Therefore, the cutting operation mechanism for cutting the steel pile bodies needs to be horizontally arranged relative to the steel pile bodies, so that the starting point and the ending point of the cutting can coincide after the cutting gun head of the cutting operation mechanism rotates one week in the steel pile body, realizing precise cutting. Since there is no case of precisely adjusting the horizontal attitude of the cutting operation mechanism in the prior art, the horizontal attitude of the cutting operation mechanism cannot be accurately adjusted, resulting in the cutting operation mechanism not meeting the requirements of high-precision cutting.

[0030] In view of this, the technical solution of the present disclosure measures the horizontal attitude information of the cutting operation mechanism 30 in real time through the horizontal attitude sensor 401 provided on the cutting operation mechanism 30. Then, the processor 404 obtains the horizontal attitude information of the cutting operation mechanism 30 in real time, and controls the pose adjustment mechanism 20 to adjust the horizontal attitude of the cutting operation mechanism 30 according to the horizontally acquired attitude information in real time until the cutting operation mechanism 30 is adjusted to the horizontal state. Therefore, the technical solution of the present disclosure no longer requires divers to manually adjust the horizontal attitude of the cutting operation mechanism 30 underwater, but adjusts the horizontal attitude of the cutting operation mechanism 30 according to the horizontally measured attitude information of the cutting operation mechanism 30 by the control system. Therefore, compared with the prior art in which divers manually adjust the horizontal attitude of the cutting operation mechanism 30 underwater, the technical solution of the present disclosure greatly improves the accuracy of adjusting the horizontal attitude of the cutting operation mechanism. Thus, the technical problem that the prior art cannot accurately adjust the horizontal attitude of the cutting operation mechanism, resulting in the cutting operation mechanism not meeting the requirements of high-precision cutting, is solved.

[0031] Optionally, referring to Figure 1As shown, the pose adjustment mechanism 20 includes a plurality of telescopic devices 200a - 200d capable of automatically adjusting their lengths. One end of the telescopic devices 200a - 200d is connected to the hanging beam mechanism 10, and the other end is connected to the cutting operation mechanism 30. Moreover, the processor 404 is further configured to adjust the lengths of the respective telescopic devices 200a - 200d according to the horizontal pose information.

[0032] Specifically referring to Figure 5 As shown, the processor 404 is communicatively connected to the respective telescopic devices 200a - 200d, so that the lengths of the respective telescopic devices 200a - 200d can be adjusted according to the horizontal pose information of the cutting operation mechanism 30, and further the horizontal pose of the cutting operation mechanism 30 can be adjusted.

[0033] Specifically, referring to Figure 6A As shown, the telescopic device 200a and the telescopic device 200c are arranged along the axis I of the cutting operation mechanism 30, where the axis I passes through the center point O of the cutting operation mechanism 30, and the telescopic device 200a and the telescopic device 200c are symmetrically arranged with respect to the center point O.

[0034] The telescopic device 200b and the telescopic device 200d are arranged along the axis II, where the axis II passes through the center point O of the cutting operation mechanism 30, and the telescopic device 200b and the telescopic device 200d are symmetrically arranged with respect to the center point O.

[0035] Furthermore, referring to Figure 6B As shown, when the processor 404 determines, according to the horizontally acquired pose information in real time, that the deflection angle of the cutting operation mechanism 30 relative to the horizontal plane with the axis II as the axis is a positive deflection angle, the length of the telescopic device 200c is shortened while the length of the telescopic device 200a is extended, so that the cutting operation mechanism 30 rotates in the negative deflection angle direction. The processor 404 acquires the horizontal pose information of the cutting operation mechanism 30 in real time while adjusting the lengths of the telescopic device 200a and the telescopic device 200c. Thus, when the horizontal pose information acquired by the processor 404 indicates that the cutting operation mechanism 30 has reached the horizontal, the adjustment is stopped.

[0036] Furthermore, referring to Figure 6C As shown, when the processor 404 determines, according to the horizontally acquired pose information in real time, that the deflection angle of the cutting operation mechanism 30 relative to the horizontal plane with the axis II as the axis is a negative deflection angle, the length of the telescopic device 200c is extended while the length of the telescopic device 200a is shortened, so that the cutting operation mechanism 30 rotates in the positive deflection angle direction. The processor 404 acquires the horizontal pose information of the cutting operation mechanism 30 in real time while adjusting the lengths of the telescopic device 200a and the telescopic device 200c. Thus, when the horizontal pose information acquired by the processor 404 indicates that the cutting operation mechanism 30 has reached the horizontal, the adjustment is stopped.

[0037] Further, referring to Figure 6D as shown, when the processor 404 determines, based on the horizontally oriented attitude information obtained in real time, that the deflection angle of the cutting operation mechanism 30 relative to the horizontal plane about the axis I is a positive deflection angle, the length of the telescopic device 200d is shortened while the length of the telescopic device 200b is extended, so that the cutting operation mechanism 30 rotates in the negative deflection angle direction. The processor 404 obtains the horizontally oriented attitude information of the cutting operation mechanism 30 in real time while adjusting the lengths of the telescopic device 200b and the telescopic device 200d. Thus, when the horizontally oriented attitude information obtained by the processor 404 indicates that the cutting operation mechanism 30 has reached the horizontal position, the adjustment is stopped.

[0038] Further, referring to Figure 6E as shown, when the processor 404 determines, based on the horizontally oriented attitude information obtained in real time, that the deflection angle of the cutting operation mechanism 30 relative to the horizontal plane about the axis I is a negative deflection angle, the length of the telescopic device 200d is extended while the length of the telescopic device 200b is shortened, so that the cutting operation mechanism 30 rotates in the positive deflection angle direction. The processor 404 obtains the horizontally oriented attitude information of the cutting operation mechanism 30 in real time while adjusting the lengths of the telescopic device 200b and the telescopic device 200d. Thus, when the horizontally oriented attitude information obtained by the processor 404 indicates that the cutting operation mechanism 30 has reached the horizontal position, the adjustment is stopped.

[0039] Thus, in the above manner, the processor 404 can adjust the horizontally oriented attitude of the cutting operation mechanism 30 by adjusting the lengths of the respective telescopic devices 200a to 200d. Therefore, the technical solution of the present disclosure can achieve precise adjustment of the horizontally oriented attitude of the cutting operation mechanism 30 without complex calculations.

[0040] In addition, referring to Figure 2 as shown, the suspension beam mechanism 10 includes a suspension beam 110, which is a frame - type structural member with a square frame in the middle and cantilevers 113 welded at four corners. One end of each cantilever 113 is inside the square frame, and the other end is placed on the top end face of the steel pile 50. A second lifting ear 112 for lifting is fixed to the upper end face of each cantilever 113, and a first lifting ear 111 is fixed to the lower end face of each cantilever 113 located inside the square frame. The lower end of the first lifting ear 111 is connected to a telescopic device 200 with an adjustable length.

[0041] Optionally, referring to Figure 3 and Figure 5As shown, the telescopic devices 200a to 200d include: a motor assembly 210, a lead screw 221, and a connecting rod 222. Among them, the motor assembly 210 is connected to the hanging beam mechanism 10 and communicatively connected to the processor 404; the lead screw 221 is connected to the output shaft of the motor assembly 210; and the first end of the connecting rod 222 is coupled to the lead screw 221 by a thread, and the second end of the connecting rod 222 is connected to the cutting operation mechanism 30.

[0042] Thus, the processor 404 controls the rotation of the lead screw 221 through the motor assembly 210. Since the first end of the connecting rod 222 is coupled to the lead screw 221 by a thread, the rotation of the lead screw 221 can drive the connecting rod 222 to move along the lead screw 221, and then control the lead screw 221 to retract into the connecting rod 222 or extend from the connecting rod 222. Furthermore, the processor 404 can control the telescoping of the telescopic devices 220a to 220d by controlling the rotation of the motor assembly 210. Thus, in this way, the technical solution of the present disclosure can control the telescoping of the telescopic devices 220a to 220d in a more precise manner, and thus can more precisely adjust the horizontal attitude of the cutting operation mechanism 30.

[0043] Optionally, the motor assembly 210 includes a steering reduction gear 211 and a first motor 212. And among them, the steering reduction gear 211 is fixed to the hanging beam mechanism 10, and the output shaft of the reduction gear 211 is connected to the lead screw 221; and the first motor 212 is coupled to the steering reduction gear 211 and communicatively connected to the processor 404. Thus, the technical solution of the present disclosure controls the rotation of the first motor 212 through the processor 404, and at the same time converts the rotation of the first motor 212 into the rotation of the lead screw 221 in a decelerated manner through the steering reduction gear 211. Thus, with this structure, since the rotational output of the first motor 212 is decelerated, the rotation of the lead screw 221 becomes slower, and thus the telescoping of the telescopic devices 220a to 220d can be controlled more precisely, and thus the horizontal attitude of the cutting operation mechanism 30 can be adjusted more precisely. Preferably, the first motor 212 can be, for example, a waterproof motor.

[0044] Optionally, referring to Figure 4A and Figure 4BAs shown, the cutting operation mechanism 30 includes a stabilizing device 400 and a cutting device 500. The stabilizing device 400 is used to fix the cutting operation mechanism 30 inside the steel pile body 50, and the cutting device 500 is installed on the stabilizing device 400 for cutting the steel pile body 50. And among them, the stabilizing device 400 includes a first annular component 410 and a plurality of tightening components 440 arranged on the first annular component 410. The tightening component 440 includes a second motor 441 and a tightening screw 442 connected to the output shaft of the second motor 441. Among them, the second motor 441 is fixed to the first annular component 410 and can move radially along the first annular component 410; and the tightening screw 442 is engaged with the corresponding screw hole of the first annular component 410 and can extend radially out of the first annular component 410 under the drive of the second motor 441.

[0045] Thus, the technical solution of the present disclosure can drive the tightening screw 442 to rotate through the second motor 441. Since the tightening screw 442 is engaged with the corresponding screw hole of the first annular component 410, the rotation of the tightening screw 442 can be converted into a linear movement along the radial direction of the first annular component 410. Thus, the technical solution of the present disclosure can automatically drive the tightening screw 442 to extend out of the first annular component 410 and tighten the inner wall of the steel pile body 50 through the motor 441. Thus, the cutting operation mechanism 30 is fixed inside the steel pile body 50. To prevent the second motor 441 from rotating relative to the tightening screw 442 and thus affecting the effect of driving the tightening screw 442, the second motor 441 is fixed to the first annular component 410 and thus cannot rotate relative to the first annular component 410. However, the second motor 441 can move radially along the first annular component 410. Although Figure 4A and Figure 4B are not shown in the figure, for example, the first annular component 410 can be provided with guide rods extending radially in the inner circle, so that the second motor 441 can linearly move along the guide rods. Of course, the first annular component 410 can also be provided with other structures in the inner circle to guide the second motor 441 to linearly move radially, which will not be elaborated here.

[0046] Furthermore, referring to Figure 5 shown, the second motor 441 is communicatively connected to the processor 404. And Figure 4C shows another example of the cutting mechanism. Referring to Figure 4CAs shown, the tightening assembly 440 further includes a runner 443 that rotates synchronously with the second motor 441. An end of the runner 443 is provided with a first rotation angle sensor 403 for measuring the rotation angle of the tightening screw 442, and the first rotation angle sensor 403 is communicatively connected to the processor 404. And wherein, the processor 404 is configured to: obtain the rotation angle information of the corresponding tightening screw 442 from each of the first rotation angle sensors 403; and synchronously control the rotation of each of the second motors 441 according to the obtained rotation angle information.

[0047] As described in the background art, when cutting a steel pile body, the cutting operation mechanism also needs to be firmly fixed in the steel pile body to prevent the movement or vibration of the cutting operation mechanism in the steel pile body from affecting the cutting accuracy. And during the process of fixing the cutting operation mechanism, it is also necessary to ensure that the center of the fixed cutting operation mechanism coincides with the center of the steel pile body, so that the cutting operation mechanism can cut the steel pile body evenly on the circumference. Since in the prior art, the fixing of the cutting operation mechanism in the steel pile body is completed by divers through underwater operations, it is impossible to ensure that the center of the fixed cutting operation mechanism coincides with the center of the steel pile body. As a result, the cutting operation mechanism cannot meet the requirements of high-precision cutting.

[0048] In view of this, the technical solution of the present disclosure enables the cutting operation mechanism 30 to be stably fixed within the steel pile body 50 by means of a plurality of tightening components 440 uniformly arranged on the circumference to tighten the inner wall of the steel pile body 50. To avoid a large deviation of the rotation center of the cutting operation mechanism 30 relative to the center of the steel pile body 50, according to the technical solution of the present disclosure, a runner 443 that rotates synchronously with the second motor 441 is provided. The runner 443 can be coupled to the output shaft of the second motor 441 in the form of gears or other forms, and for example, the radius of the runner 443 is the same as the radius of the output shaft of the second motor 441, so that the runner 443 can rotate synchronously with the output shaft of the second motor 441. Moreover, a rotation angle sensor 403 is provided at the end of the runner 443, so that the rotation angle of the tightening screw 442 can be measured in real time. Since the processor 404 is communicatively connected to the rotation angle sensors 403 provided on each runner 443, the rotation angle of each tightening screw 442 can be obtained in real time, and the number of turns (i.e., the number of circles) of rotation of each tightening screw 442 can be determined based on the rotation angle of each tightening screw 442. And, since the processor 404 is communicatively connected to the second motor 441 that drives the tightening screw 442 to rotate, the rotation angle of each tightening screw 442 and the number of turns of rotation of each tightening screw 442 can be obtained in real time, and at the same time, each second motor 441 can be driven synchronously, so that the rotation angles and the number of turns of rotation of each tightening screw 442 are synchronized, so that each tightening screw 442 can extend radially outward at the same speed. Thus, when each tightening screw 442 tightens the inner wall of the steel pile body 50, the center of the cutting operation mechanism 30 coincides with the center of the steel pile body 50. Thus, the solution of the present disclosure can ensure that the center of the cutting operation mechanism 30 coincides with the center of the steel pile body 50 while fixing the cutting operation mechanism 30, so as to meet the requirements of high-precision cutting.

[0049] Optionally, referring to Figure 4A , the stabilizing device 400 further includes a second annular component 420, the second annular component 420 is disposed within the first annular component 410, and is connected to the first annular component 410 by a plurality of rib plates 431-434. And referring to Figure 4A and Figure 4B shown, the cutting device 500 is mounted on the second annular component 420. Thus, the stabilizing device 400 of the present disclosure uses the first annular component 410 to fix the cutting operation mechanism 30 within the steel pile body 50, uses the second annular component 420 to mount the cutting device 500, and uses the rib plates 431-434 to connect the first annular component 410 and the second annular component 420. Thus, in this way, the technical solution of the present disclosure simplifies the structure of the cutting operation mechanism 30 and also reduces the weight of the cutting operation mechanism 30.

[0050] Optionally, referring to Figure 4A andFigure 4B As shown, the cutting device 500 includes a rotary drive assembly 510 and a cutting gun head assembly 520. Among them, the cutting gun head assembly 520 is rotatably arranged at the bottom of the second annular assembly 420 for cutting the steel pile body 50; and the rotary drive assembly 510 is arranged on the second annular assembly 420 for driving the cutting gun head assembly 510 to rotate around the axis of the second annular assembly 420. Thus, the technical solution of the present disclosure uses the rotary drive assembly 510 to drive the cutting gun head assembly 520 to rotate, so that the cutting action of the steel pile body 50 can be completely realized.

[0051] Optionally, the rotary drive assembly 510 includes a motor 511, a speed reducer 512 and a first gear 513. Among them, the speed reducer 512 is connected to the output shaft of the motor 511, the output shaft of the speed reducer 512 extends downward from the bottom of the second annular assembly 420, and the first gear 513 is connected to the output shaft of the speed reducer 512. And among them, the cutting gun head assembly 520 includes a second gear 523, a rotary arm 521 and a cutting gun head 522, wherein the second gear 523 meshes with the first gear 513 and is rotatably arranged at the bottom of the second annular assembly 420 through a rotary support 421. The rotary support 421 surrounds the inner ring of the second annular assembly 420 and is coaxially arranged with the second annular assembly 420, and the rotary arm 521 is connected to the second gear 523, and the cutting gun head 522 is fixed to the rotary arm 521. Preferably, the motor 511 can be a hydraulic motor. In addition, further preferably, the cutting gun head 522 is a high-pressure water cutting gun head and is connected to a water supply device that can provide high-pressure water outside the steel pile body 50. The rotary support 421 is preferably a bearing.

[0052] Optionally, a second rotation angle sensor 402 is arranged on the rotary arm 521, and the motor 511 and the second rotation angle sensor 402 are communicatively connected to a processor 404, and the processor 404 is further configured to: obtain the rotation angle information of the rotary arm 521 from the second rotation angle sensor 402; and control the motor 511 according to the rotation angle information of the rotary arm 521. Thus, during the process of the motor 511 driving the rotary arm 521 to rotate, the processor 404 can obtain the rotation angle information related to the rotation angle of the rotary arm 521 in real time. Thus, when the processor 404 determines that the rotary arm 521 has rotated one week according to the rotation angle information, it can be determined that the cutting gun head 522 has cut the steel pile body 50 for one week. Thus, the rotation of the motor 511 can be controlled to stop.

[0053] In addition, preferably, the processor 404 can also be communicatively connected to the water supply device, so as to control the water supply device to stop supplying water when it is determined that the cutting gun head 522 has cut the steel pile body 50 for one week.

[0054] Preferably, a stress sensor 405 is provided at a position near the end of the rotating arm 521. The stress sensor 405 is communicatively connected to the processor 404. Thus, the processor 404 is further configured to: receive, from the stress sensor 405, a vibration signal for reflecting the cutting state of the cutting head 522; and control the motor 511 to drive the rotation of the rotating arm 521 according to the vibration signal.

[0055] Specifically, referring to Figure 1 、 Figure 4A and Figure 4B As shown, in the solution of the present disclosure, a stress sensor 405 is provided at a position near the end of the rotating arm 521 to sense the vibration of the end of the rotating arm 521 and transmit the corresponding vibration signal to the processor 404.

[0056] Specifically, Figure 7 shows a schematic diagram of the vibration signal transmitted by the stress sensor 405. Referring to Figure 7 As shown, at the starting time t0, when the cutting head 522 has not started working yet, at this time the stress sensor 405 senses the minimum vibration, and the amplitude of the vibration signal is almost close to 0. At the moment t1, the processor 404 starts the water supply device to supply water to the cutting head 522. Thus, the cutting head 522 sprays high-pressure water flow onto the inner wall of the steel pile 50. And when the high-pressure water flow has not penetrated the steel pile 50, after the high-pressure water flow is reflected by the inner wall of the steel pile 50, the vibration is transmitted to the stress sensor 405. Thus, at the moment t1, the stress sensor 405 senses the maximum vibration, and the amplitude of the transmitted vibration signal is A1. Then at the moment t2, the high-pressure water flow sprayed by the cutting head 522 penetrates the steel pile 50. At this time, since the high-pressure water flow is no longer reflected by the inner wall of the steel pile 50, the vibration sensed by the stress sensor 405 is greatly weakened, and thus the amplitude of the transmitted vibration signal drops to A2.

[0057] Then, the processor 404 determines that the water flow of the cutting head 522 has penetrated the steel pile 50 at this time according to the received vibration signal, and controls the motor 511 to drive the rotating arm 521 to rotate a predetermined angle. Thus, at the moment t3, the cutting head 522 moves to the next cutting position. Thus, the high-pressure water flow sprayed by the cutting head 522 is reflected by the inner wall of the steel pile 50 and the vibration is transmitted to the stress sensor 405. Thus, at the moment t3, the amplitude of the vibration signal transmitted by the stress sensor 405 rises to A1 again. Then at the moment t4, the high-pressure water flow sprayed by the cutting head 522 penetrates the steel pile 50. At this time, since the high-pressure water flow is no longer reflected by the inner wall of the steel pile 50, the vibration sensed by the stress sensor 405 is greatly weakened, and thus the amplitude of the transmitted vibration signal drops to A2 again.

[0058] Then, based on the received vibration signal, the processor 404 determines that the water flow of the cutting gun head 522 has penetrated the steel pile body 50 at this time, and controls the motor 511 to drive the rotating arm 521 to rotate by a predetermined angle. Thus, at time t5, the cutting gun head 522 moves to the next cutting position. And so on, the processor 404 continuously controls the motor 511 to drive the rotating arm 521 to rotate according to the stress sensor 405 until the cutting gun head 522 completes the cutting of the entire circumference of the steel pile body 50.

[0059] Thus, according to the technical solution of the present disclosure, the processor 404 can monitor the vibration state of the cutting device in real time, and confirm the startup state of the cutting device, the penetration condition of the pile body during the cutting process, and whether the cutting force is uniform during one rotation of the rotary cutting in real time. Thus, it is ensured that after the cutting operation is completed, the pile body is completely cut, and the incision state of the cutting surface for one week is uniform.

[0060] In summary, the technical solution of the present disclosure measures the horizontal attitude information of the cutting operation mechanism in real time through the horizontal attitude sensor provided on the cutting operation mechanism. Then, the processor obtains the horizontal attitude information of the cutting operation mechanism in real time, and controls the pose adjustment mechanism to adjust the horizontal attitude of the cutting operation mechanism according to the obtained horizontal attitude information in real time until the cutting operation mechanism is adjusted to be horizontal. Thus, the technical solution of the present disclosure no longer requires a diver to manually adjust the horizontal attitude of the cutting operation mechanism underwater, but adjusts the horizontal attitude of the cutting operation mechanism by the control system according to the horizontally measured attitude information of the cutting operation mechanism in real time. Thus, compared with the prior art in which a diver manually adjusts the horizontal attitude of the cutting operation mechanism underwater, the technical solution of the present disclosure greatly improves the accuracy of adjusting the horizontal attitude of the cutting operation mechanism. Thus, it solves the technical problem that the prior art cannot accurately adjust the horizontal attitude of the cutting operation mechanism, resulting in the cutting operation mechanism not meeting the requirements of high-precision cutting.

[0061] Unless otherwise specifically stated, the relative arrangements, numerical expressions, and numerical values of the components and steps described in these embodiments do not limit the scope of the present disclosure. At the same time, it should be understood that for the sake of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the said technologies, methods, and devices should be regarded as part of the authorization specification. In all the examples shown and discussed here, any specific value should be interpreted as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that: similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0062] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "upper" etc. can be used here to describe the spatial positional relationship of a device or feature shown in the figure with other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figure for the device. For example, if the device in the drawing is inverted, a device described as "above" or "over" other devices or structures will then be positioned "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations will be made for the spatial relative descriptions used here.

[0063] In the description of the present disclosure, it should be understood that the orientation or positional relationship indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" etc. is generally based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present disclosure and simplifying the description. Without contrary description, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus should not be construed as limiting the protection scope of the present disclosure; the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0064] As described above, the above are only the preferred specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A cutting device for underwater cutting of steel piles, characterized in that, It includes a suspension beam mechanism (10), a pose adjustment mechanism (20), a cutting operation mechanism (30), a horizontal attitude sensor (401), and a processor (404), where the suspension beam mechanism (10) is used to be erected on the top of a vertically arranged steel pile body (50); the cutting operation mechanism (30) is arranged inside the steel pile body (50) and is used to cut the steel pile body (50) inside the steel pile body (50); the pose adjustment mechanism (20) is respectively connected to the suspension beam mechanism (10) and the cutting operation mechanism (30) and is used to adjust the position and pose of the cutting operation mechanism (30) inside the steel pile body (50); the horizontal attitude sensor (401) is arranged on the cutting operation mechanism (30) and is used to measure the horizontal attitude information of the cutting operation mechanism (30); and the processor (404) is respectively communicatively connected to the horizontal attitude sensor (401) and the pose adjustment mechanism (20) and is used to control the pose adjustment mechanism (20) to adjust the horizontal pose of the cutting operation mechanism (30) according to the horizontal attitude information, and where the pose adjustment mechanism (20) includes a plurality of telescopic devices capable of automatically adjusting their lengths. One end of the telescopic device is connected to the suspension beam mechanism (10), and the other end is connected to the cutting operation mechanism (30), and the processor (404) is further configured to adjust the lengths of the respective telescopic devices according to the horizontal attitude information, and where the telescopic device includes: a motor assembly (210), a lead screw (221), and a connecting rod (222), where the motor assembly (210) is connected to the suspension beam mechanism (10) and is communicatively connected to the processor (404); the lead screw (221) is connected to the output shaft of the motor assembly (210); and the first end of the connecting rod (222) is coupled to the lead screw (221) by a thread, and the second end of the connecting rod (222) is connected to the cutting operation mechanism (30).

2. The cutting device according to claim 1, characterized in that, The motor assembly (210) includes a steering reduction gear (211) and a first motor (212), and where the steering reduction gear (211) is fixed to the suspension beam mechanism (10), and the output shaft of the steering reduction gear (211) is connected to the lead screw (221); and the first motor (212) is coupled to the steering reduction gear (211) and is communicatively connected to the processor (404).

3. The cutting device according to claim 1, characterized in that, The cutting operation mechanism (30) includes a stabilizing device (400) and a cutting device (500), where the stabilizing device (400) is used to fix the cutting operation mechanism (30) inside the steel pile body (50), and the cutting device (500) is installed on the stabilizing device (400) and is used to cut the steel pile body (50), and where The stabilizing device (400) includes a first annular component (410) and a plurality of tightening components (440) arranged on the first annular component (410), and the tightening component (440) includes a second motor (441) and a tightening screw (442) connected to the output shaft of the second motor (441), where the second motor (441) is fixed to the first annular component (410) and can move radially along the first annular component (410); and the tightening screw (442) is engaged with a corresponding threaded hole of the first annular component (410) and can extend radially out of the first annular component (410) along the first annular component (410) under the drive of the second motor (441).

4. The cutting device according to claim 3, characterized in that, The second motor (441) is communicatively connected to the processor (404), and where the tightening component (440) further includes a runner (443) that rotates synchronously with the output shaft of the second motor (441), and a first rotation angle sensor (403) is arranged at the end of the runner (443) for measuring the rotation angle of the tightening screw (442), and the first rotation angle sensor (403) is communicatively connected to the processor (404), and where the processor (404) is further configured to:[[]] obtain the rotation angle information of the corresponding tightening screw (442) from each first rotation angle sensor (403); and synchronously control the rotation of each second motor (441) according to the obtained rotation angle information.[[]] 5. The cutting device according to claim 3, characterized in that The stabilizing device (400) further includes a second annular component (420), the second annular component (420) is arranged inside the first annular component (410) and is connected to the first annular component (410) through a plurality of rib plates (431 - 434), and the cutting device (500) is installed on the second annular component (420).

6. The cutting device according to claim 5, wherein, The cutting device (500) includes: a rotation driving component (510) and a cutting gun head component (520), where the cutting gun head component (520) is rotatably arranged at the bottom of the second annular component (420) for cutting the steel pile body (50); and the rotation driving component (510) is arranged on the second annular component (420) for driving the cutting gun head component (520) to rotate around the axis of the second annular component (420).

7. The cutting device according to claim 6, characterized in that, The rotation driving component (510) includes: a motor (511), a speed reducer (512) and a first gear (513), where the speed reducer (512) is connected to the output shaft of the motor (511), the output shaft of the speed reducer (512) extends downward from the bottom of the second annular component (420), and the first gear (513) is connected to the output shaft of the speed reducer (512), and where The cutting gun head assembly (520) includes: a second gear (523), a rotating arm (521), and a cutting gun head (522), wherein the second gear (523) meshes with the first gear (513) and is rotatably disposed at the bottom of the second annular assembly (420) through a rotary bearing (421). The rotary bearing (421) surrounds the inner ring of the second annular assembly (420) and is coaxially disposed with the second annular assembly (420). The rotating arm (521) is connected to the second gear (523), and the cutting gun head (522) is fixed to the rotating arm (521).

8. The cutting device according to claim 7, characterized in that, A second rotation angle sensor (402) is disposed on the rotating arm (521), and the motor (511) and the second rotation angle sensor (402) are communicatively connected to the processor (404). The processor (404) is further configured to: obtain the rotation angle information of the rotating arm (521) from the second rotation angle sensor (402); and control the motor (511) according to the rotation angle information of the rotating arm (521), and wherein The cutting gun head (522) is a high-pressure water cutting gun head, and a stress sensor (405) is disposed at a position near the end of the rotating arm (521). The stress sensor (405) is communicatively connected to the processor (404), and the processor (404) is further configured to: receive a vibration signal from the stress sensor (405) for reflecting the cutting state of the cutting gun head (522); and control the motor (511) to drive the rotation of the rotating arm (521) according to the vibration signal.

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