Balanced self-adjusting pressing-down type low-clearance anchor rod static pressure pile machine and control method

Abstract

The invention provides a balance self-adjusting pressing-down type low-clearance anchor rod static pressure pile machine and a control method. The pile machine comprises a center cross joint, a jack, a pile pressing frame and a movable distribution beam. The pile pressing frames are installed at the construction position of the anchor rod static pressure pile, and the four pile pressing frames are evenly distributed on the periphery of the anchor rod static pressure pile section in the circumferential direction. The center cross joint is of a cross-shaped structure, the center cross joint is installed on the top of the anchor rod static pressure pile section, and four extending sections are formed on the center cross joint and extend into the four pile pressing frames. A movable distribution beam is movably arranged in each pile pressing frame and can be locked, the movable distribution beams are located above the extending sections of the pile pressing frames, the jacks are installed between the movable distribution beams and the extending sections of the pile pressing frames and connected with the central cross joint, the jacks press the pile sections of the anchor rod static pressure piles, and the pile body attitude sensors are installed on the pile sections of the anchor rod static pressure piles. The invention relates to the technical field of constructional engineering, and can solve the problems of insufficient construction precision and efficiency and great influence on the surrounding environment in the prior art.

Description

Technical Field

[0001] The invention relates to the technical field of construction engineering, and in particular to a balanced self-adjusting downward pressure type low-clearance anchor static pressure pile driver and a control method thereof. Background Art

[0002] Urban renewal is a key measure to cope with the aging and changing needs of cities, especially in the functional improvement of developed areas and the reinforcement and renewal of existing buildings. In this process, effective foundation reinforcement technology and the addition of pile foundations around and inside existing buildings are the core parts of ensuring building safety, improving building functions, and structurally replacing existing buildings.

[0003] As a mature foundation treatment technology, anchor static pile technology has been widely used in various engineering projects since it was developed at home and abroad. This technology uses the building's own weight as a reaction force by pressing the piles into the soil section by section to provide a stable vertical support for the building. It shows unique advantages in the foundation treatment of new projects and the correction and reinforcement of existing buildings. In addition, anchor static pile technology has also begun to be used in the construction of additional underground spaces in existing buildings, which is particularly important in urban central areas where land resources are becoming increasingly scarce.

[0004] However, although anchor static pile technology has been successfully applied in the reinforcement and correction of existing building foundations, there are still some technical challenges in its application in the construction of underground space expansion projects in existing buildings. These challenges include the formation and control of the plastic zone around the pile, the change of soil bearing capacity during construction, the lack of construction accuracy and efficiency, and the impact on the surrounding environment. At present, the theoretical research and practical engineering application of anchor static pile technology in this new field are not sufficient, and further technological innovation and development are needed.

[0005] Therefore, it is necessary to provide a balanced self-adjusting down-pressure low-clearance anchor static pressure pile driver and a control method, which can solve the problems of insufficient construction accuracy and efficiency and great impact on the surrounding environment in the prior art. Summary of the invention

[0006] The object of the present invention is to provide a balanced self-adjusting down-pressure low-headroom anchor static pile driver and a control method, which can solve the problems of insufficient construction accuracy and efficiency and great impact on the surrounding environment in the prior art.

[0007] In order to achieve the above object, the technical solution of the present invention is:

[0008] A balanced self-adjusting downward-pressing low-headroom anchor static pile driver, comprising: a central cross node, a jack, a pile-pressing frame and a movable distribution beam; the pile-pressing frame is fixedly installed at the anchor static pile construction position, and four groups of pile-pressing frames are evenly distributed around the anchor static pile section in the circumferential direction; the central cross node is a cross-shaped structure, and the middle part of the central cross node is installed on the top of the anchor static pile section, and the central cross node forms four extension sections around, and the four extension sections extend into the four groups of pile-pressing frames respectively; a movable distribution beam is movably provided in each group of pile-pressing frames and can be locked on the pile-pressing frame, and the movable distribution beam is located above the extension section of the pile-pressing frame, and the jack is installed between the mobile distribution beam and the extension section of the pile-pressing frame and is wirelessly connected to the central cross node, so that the jack can press down the anchor static pile section; a pile body posture sensor wirelessly connected to the central cross node is installed on the anchor static pile section.

[0009] The central cross node comprises a cross node connecting member, a Z-shaped sinking connecting member, a cross node level, a pile frame triaxial acceleration sensor and a control center and a top plate; the pile frame triaxial acceleration sensor and the control center are arranged at the top center of the cross node connecting member, four groups of cross node levels are respectively installed at the top of the four sides of the cross node connecting member and are wirelessly connected to the pile frame triaxial acceleration sensor and the control center; one end of the four Z-shaped sinking connecting members are respectively plugged into the four sides of the cross node connecting member, and the other ends of the four Z-shaped sinking connecting members are inserted into the pile frame as extension sections and are located below the movable distribution beam, so that the jack is arranged between the other end of the Z-shaped sinking connecting member and the movable distribution beam; the top plate is installed at the bottom center of the cross node connecting member and connected to the top of the anchor static pressure pile section.

[0010] Each group of the pile driving frames comprises pile driving frame limbs and a pile driving frame bottom plate; a pair of pile driving frame bottom plates are fixedly installed at the anchor static pressure pile construction position, and a pair of vertical pile driving frame limbs are symmetrically arranged on each pile driving frame bottom plate, so that the four pile driving frame limbs are distributed in a matrix-like manner; the movable distribution beam can movably pass through the two pairs of pile driving frame limbs, and the other end of the Z-shaped sinking connecting member extends between the two pairs of pile driving frame limbs.

[0011] A plurality of latch holes are formed at vertical intervals on each of the pile driving frame branches, and a limited support pin shaft is movably inserted in the latch hole. Two limited support pin shafts are respectively located above the movable distribution beam and pass through the two pairs of pile driving frame branches, so that the movable distribution beam is locked on the pile driving frame branches of the pile driving frame.

[0012] The mobile distribution beam comprises a mobile distribution beam body, an electric damping pulley quick-release plate, a pulley block and a quick-release plate connecting hinge; the pulley block is rotatably mounted on the electric damping pulley quick-release plate through the quick-release plate connecting hinge, and the electric damping pulley quick-release plate is fixedly mounted on the mobile distribution beam body; four groups of pulley blocks are respectively mounted on the two surface ends of the mobile distribution beam body, and vertical pile driving frame guide rails are provided on the pile driving frame limbs, so that the four groups of pulley blocks are respectively slidably connected with the pile driving frame guide rails on the four pile driving frame limbs of the pile driving frame; each group of pulley blocks is composed of a number of electric damping pulleys.

[0013] A control method for a balanced self-adjusting down-pressure low-headroom anchor static pile driver comprises the following steps:

[0014] Step 1: Fix the pile press frames at the construction position of the anchor static pressure piles, so that four sets of pile press frames are evenly distributed around the anchor static pressure pile sections;

[0015] Step 2: Pile position measurement and setting, hoisting the first section of the anchor static pressure pile, i.e. the anchor static pressure pile section, and temporarily fixing the anchor static pressure pile section;

[0016] Step 3: Install the central cross node on the top of the anchor static pile section;

[0017] Step 4: hoist four sets of mobile distribution beams onto four sets of pile-pressing frames respectively, and lock the mobile distribution beams onto the pile-pressing frames;

[0018] Step 5: Install the jack between the extension section of the central cross node, that is, the other end of the Z-shaped sinking connection member and the movable distribution beam body of the movable distribution beam;

[0019] Step 6: Install a pile body attitude sensor on the anchor static pressure pile segment, and the pile body attitude sensor is wirelessly connected to the pile frame triaxial acceleration sensor at the central cross node and the control center;

[0020] Step 7: The jack performs pre-compression and checks the response of the pile body attitude sensor, which feeds back the pile body attitude data to the pile frame three-axis acceleration sensor and the control center;

[0021] Step 8: The pile frame triaxial acceleration sensor and the control center automatically calculate the forces of the four jacks in the initial state through the pile body posture data;

[0022] Step 9: Use the jack to press the pile with the set force, and make corrections in real time during the pressing process until the jack completes one stroke;

[0023] Step 10: Retract the jack and restore the stroke;

[0024] Step 11: Unlock the movable distribution beam, and the movable distribution beam moves downward on the pile driving frame along the guide rail of the pile driving frame through the electric damping pulley, and moves to the upper top surface of the jack;

[0025] Step 12: After the movable distribution beam is moved into position, a limit support pin is inserted into the pin hole above the movable distribution beam body of the movable distribution beam to lock the movable distribution beam;

[0026] Step 13: Repeat steps 9 to 12 until the anchor static pile section is pressed to the designed elevation.

[0027] The step 1 comprises the following sub-steps:

[0028] Step 1.1: Set up a pile foundation at the construction location of the anchor static pile or use an existing building as a pile foundation, and arrange the connectors of the pile frame bottom plate on the pile foundation;

[0029] Step 1.2: A pair of pile driving frame bottom plates are fixedly installed on the pile driving foundation through connecting pieces, and a pair of pile driving frame branches are symmetrically installed on each pile driving frame bottom plate.

[0030] Under the condition of abundant site space, the installation method of the central cross node is:

[0031] Step 3.1.1: Install a capping plate on the top of the anchor static pile section;

[0032] Step 3.1.2: Assemble on the ground, install the pile frame triaxial acceleration sensor and control center at the top center of the cross node connection component, install four sets of cross node levels at the top of the four sides of the cross node connection component and connect them wirelessly with the pile frame triaxial acceleration sensor and control center;

[0033] Step 3.1.3: Insert one end of the four groups of Z-shaped sinking connection members into the four sides of the cross node connection member, and insert the other end of the four groups of Z-shaped sinking connection members between the two pairs of pile driving frame branches of the four groups of pile driving frames;

[0034] Step 3.1.4: Install the bottom center of the cross node connection member onto the top plate;

[0035] Under the condition that the site space or installation conditions are limited, the installation method of the central cross node is:

[0036] Step 3.2.1: Install a capping plate on the top of the anchor static pile section;

[0037] Step 3.2.2: Install the cross node connection member on the top plate;

[0038] Step 3.2.3: Install the pile frame triaxial acceleration sensor and control center at the top center of the cross node connection component, install four sets of cross node levels at the top of the four sides of the cross node connection component and wirelessly connect them to the pile frame triaxial acceleration sensor and control center;

[0039] Step 3.2.4: Insert one end of the four groups of Z-shaped sinking connection members into the four sides of the cross node connection member, and insert the other end of the four groups of Z-shaped sinking connection members between the two pairs of pile driving frame branches of the four groups of pile driving frames.

[0040] The step 4 comprises the following sub-steps:

[0041] Step 4.1: hoist the main body of the mobile distribution beam between the two pairs of pile driving frame branches of the pile driving frame;

[0042] Step 4.2: The four pulley blocks at the ends of both sides of the main body of the mobile distribution beam are respectively slidably arranged on the guide rails of the two pairs of pile driving frames, and the main body of the mobile distribution beam is temporarily fixed on the pile driving frame by using the self-locking function of the electric damping pulley;

[0043] Step 4.3: Insert the limit support pins into the pin holes above the main body of the mobile distribution beam. The limit support pins pass through a pair of pile-driving frame branches, so that the main body of the mobile distribution beam is locked on the pile-driving frame through the four limit support pins.

[0044] The pile pressing and correction process of the jack is:

[0045] A coordinate system is established with the top center of the anchor static pile section as the center of the circle. The four jacks are located on the x-axis and y-axis respectively, denoted as jack x1, jack x2, jack y1, jack y2, L x1 , L x2 , L y1 , L y2 are the distances from jack x1, jack x2, jack y1, jack y2 to the center of the top surface of the anchor static pile section (5);

[0046] Assume that in the first n pile pressures, the vertical control forces of jack x1, jack x2, jack y1, and jack y2 during the i-th pressure are F x1,i 、F x2,i 、F y1,i 、F y2,i , i=0,1,2,…,n;

[0047] The pile body posture sensor is used to measure the inclination angles of the anchor static pile section relative to the y-axis and x-axis under the i-th downward pressure, which are α and i , β i; Under the i-th downward pressure, the rotation angles of the anchor static pile segment relative to the y-axis and x-axis are Δα i , Δβ i , which is calculated as follows:

[0048] Δα i =α i -α i-1

[0049] Δβ i =β i -β i-1

[0050] By the rotation angle Δα i , Δβ i Composed rotation angle matrix D α , D β , which is expressed as follows:

[0051]

[0052]

[0053] Assume that the unbalanced moments rotating around the y-axis and x-axis are M yi , M xi :

[0054] M yi =F x1,i L x1 -F x2,i L x2

[0055] M xi =F y1,i L y1 -F y2,i L y2

[0056] The matrix composed of the unbalanced moments under each tension is as follows:

[0057]

[0058]

[0059] The matrix composed of the rotation angles around the y-axis and x-axis under each tension is as follows:

[0060]

[0061]

[0062] The weight matrix is ​​defined as follows:

[0063]

[0064]

[0065] Assume that the torsion of the anchor static pile segment under the i-th downward pressure is θ i , the torsion angle increment is Δθ i , the weight coefficient is defined as follows:

[0066]

[0067]

[0068] The correction coefficient matrices A and B that define the unbalanced moments around the y-axis and x-axis are as follows:

[0069]

[0070]

[0071] The correction coefficient matrices A and B can be calculated using the following formulas:

[0072]

[0073]

[0074] Among them, the coefficient p y 、p x 、r x 、r y Determined by value finding calculation, the calculation accuracy is calculated according to the equipment computing power and construction accuracy control requirements. The calculated coefficient p y 、p x 、r x 、r y Minimize the following formula:

[0075]

[0076]

[0077] According to the calculation results of the previous n times, the force of the pile driving for the n+1th time is controlled;

[0078] The magnitude of the unbalanced moment M around the y-axis and x-axis under the n+1th pile pressure yn+1 、M xn+1 By solving the following equations respectively:

[0079] α i =a2M yn+1 -1 +a1M yn+1 +a0

[0080] βi =b2M xn+1 -1 +b1M xn+1 +b0

[0081] The total combined force control value of the n+1th pile driving is F n+1 , the forces acting on each pile under the force of the n+1th pile pressure are:

[0082]

[0083]

[0084]

[0085]

[0086] If the desired M yn+1 、M xn+1 There are multiple solutions, requiring that the force exerted by each jack on the pile is not negative, and the upper limit of the force exerted by the pile is In this way, the force of the jacks arranged around the anchor static pressure pile section is controlled reciprocatingly to achieve the function of balanced self-adjustment.

[0087] Compared with the prior art, the present invention has the following beneficial effects:

[0088] 1. The pile driver of the present invention adopts a split structure of a central cross node, a jack, a pile driving frame and a movable distribution beam, which is convenient to transport, assemble and disassemble, and can be manufactured and assembled according to the adaptability of the construction space. It has good versatility and can adapt to construction environments with narrow construction space or limited space layout or low indoor clearance of buildings. It can meet the application needs of foundation reinforcement of existing buildings and expansion of underground space in urban renewal.

[0089] 2. The pile driver of the present invention is installed on a pile driving foundation or an existing building through a pile driving frame bottom plate, which can reduce the impact on the surrounding environment during the construction process, protect the structural safety of the existing buildings, and achieve more economical and efficient urban renewal and building reinforcement.

[0090] 3. The control method of the present invention collects monitoring data through a cross-node level, a pile body posture sensor and a three-axis acceleration sensor, and controls the corresponding force and formation of the dynamic data of the jack through a control center to achieve a balance adjustment function, and automatically adjust the verticality of the constructed anchor static pressure piles. While effectively improving the construction accuracy, it can also take into account the construction efficiency, providing important technical support for urban construction and building maintenance, and is particularly suitable for urban center areas with limited construction space, sensitive environment, and high requirements for construction accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0091] The above and other objects, features and advantages of the present disclosure will become more apparent through a more detailed description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present disclosure.

[0092] Figure 1 It is a three-dimensional diagram of the balanced self-adjusting downward pressure type low-clearance anchor static pressure pile driver of the present invention;

[0093] Figure 2 It is a top view of the balanced self-adjusting downward pressure type low clearance anchor static pressure pile driver of the present invention;

[0094] Figure 3 It is a side view of the balanced self-adjusting downward pressure type low clearance anchor static pressure pile driver of the present invention;

[0095] Figure 4 It is an exploded view of the balanced self-adjusting down-pressure type low-clearance anchor static pressure pile driver of the present invention;

[0096] Figure 5 It is a three-dimensional diagram of a movable distribution beam in a balanced self-adjusting downward pressure type low-clearance anchor static pile driver of the present invention;

[0097] Figure 6 It is a stereoscopic diagram of the central cross node in the balanced self-adjusting down-pressure type low-clearance anchor static pile driver of the present invention;

[0098] Figure 7 It is a partial schematic diagram of the medium-pressure pile frame of the balanced self-adjusting downward pressure type low-clearance anchor static pressure pile driver of the present invention;

[0099] Figure 8 It is a schematic diagram of force calculation of a control method of a balanced self-adjusting downward pressure type low-clearance anchor static pressure pile driver of the present invention.

[0100] In the figure, 1 is a central cross node, 11 is a cross node connecting member, 12 is a Z-shaped sinking connecting member, 13 is a cross node level, 14 is a pile frame triaxial acceleration sensor and a control center, 15 is a top plate, 2 is a jack, 3 is a pile frame, 31 is a pile frame branch, 32 is a pile frame bottom plate, 33 is a pile frame guide rail, 34 is a pin hole, 35 is a limit support pin shaft, 4 is a mobile distribution beam, 41 is a mobile distribution beam body, 42 is an electric damping pulley, 43 is an electric damping pulley quick-release plate, 44 is a pulley block, 45 is a quick-release plate connecting hinge, 5 is an anchor static pressure pile segment, and 51 is a pile body posture sensor. DETAILED DESCRIPTION

[0101] The following is a further detailed description of a balanced self-adjusting down-pressure low-headroom anchor static pile driver and control method proposed by the present invention in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the present invention will become clearer according to the following description and claims. It should be noted that the drawings are all in a very simplified form and are not in precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0102] Please see attached Figure 1 To Attachment Figure 4 A balanced self-adjusting downward pressure type low-headroom anchor static pile driver comprises a central cross node 1, a jack 2, a pile pressing frame 3 and a movable distribution beam 4; the pile pressing frame 3 is fixedly installed at the anchor static pile construction position, and four groups of pile pressing frames 3 are evenly distributed around the anchor static pile segment 5 in the circumferential direction; the central cross node 1 is a cross-shaped structure, the middle part of the central cross node 1 is installed on the top of the anchor static pile segment 5, and the central cross node 1 forms four extension sections around, and the four extension sections extend into the four groups of pile pressing frames 3 respectively; a movable distribution beam 4 is movably provided in each group of pile pressing frames 3 and can be locked on the pile pressing frame 3, and the movable distribution beam 4 is located above the extension section of the pile pressing frame 3, and the jack 2 is installed between the mobile distribution beam 4 and the extension section of the pile pressing frame 3 and is wirelessly connected to the central cross node 1, so that the jack 2 can press down the anchor static pile segment 5; a pile body posture sensor 51 wirelessly connected to the central cross node 1 is installed on the anchor static pile segment 5.

[0103] Preferably, the jack 2 is not limited to a form, and can be a hydraulic jack or a mechanical jack, and can be adaptively selected according to actual use requirements, so that the jack 2 has a digitally controlled lifting force and stroke. Under the control of the central cross node 1, the jack 2 can press the pile with a set force and stroke.

[0104] Preferably, a pile pressing foundation can be set at the construction location of the anchor static pile or an existing structure can be used as a pile pressing foundation for fixing and installing the pile pressing frame 3, so that the pile pressing frame 3 can provide a vertical reaction force for the pile pressing jack 2. The height of the pile pressing frame 3 can be made according to the adaptability of the construction environment. The height of the entire balanced self-adjusting down-pressing anchor static pile driver mainly depends on the height of the down-pressed anchor static pile segment 5 and the center cross node 1, and the height of the anchor static pile segment 5 is mainly determined by the needs of the construction site, so that the balanced self-adjusting down-pressing anchor static pile driver of the present invention can be suitable for construction in low headroom environments in existing buildings or in environments with limited construction space.

[0105] Since the central cross node 1 is a cross-shaped structure, as shown in the attached Figure 2As shown, the four groups of pile driving frames 3 are orthogonally symmetrically distributed, so that the force on the anchor static pile segment 5 is uniform and stable. At the same time, the four jacks 2 are respectively installed on the four groups of pile driving frames 3, and each independently controls the displacement and force. The jacks 2 in two orthogonal directions apply unbalanced forces, and the eccentric action of the unbalanced forces is used to correct and dynamically control the posture deviation of the anchor static pile segment 5 during the pile driving process.

[0106] The central cross node 1, the jack 2, the pile driving frame 3 and the movable distribution beam 4 are all independent parts. Figure 4 As shown, the disassembly and assembly is convenient and quick, and the independent or synchronous transportation of each component can be facilitated, and the component can be flexibly entered and exited from the existing building, so that the assembly and molding can be carried out in a small indoor space.

[0107] Please see attached Figure 6 The central cross node 1 includes a cross node connecting member 11, a Z-shaped sinking connecting member 12, a cross node level 13, a pile frame triaxial acceleration sensor and a control center 14, and a top plate 15; the pile frame triaxial acceleration sensor and the control center 14 are arranged at the top center of the cross node connecting member 11, and four groups of cross node levels 13 are respectively installed at the top of the four sides of the cross node connecting member 11 and are wirelessly connected to the pile frame triaxial acceleration sensor and the control center 14; one end of the four Z-shaped sinking connecting members 12 is respectively plugged into the four sides of the cross node connecting member 11, and the other end of the four Z-shaped sinking connecting members 12 is inserted into the pile frame 3 as an extension section and is located below the movable distribution beam 4, so that the jack 2 is arranged between the other end of the Z-shaped sinking connecting member 12 and the movable distribution beam 4; the top plate 15 is installed at the bottom center of the cross node connecting member 11 and is connected to the top of the anchor static pile segment 5.

[0108] The cross node connection member 11 is a symmetrical structure. Both the cross node connection member 11 and the Z-shaped sinking connection member 12 can be made of square steel pipes. The square steel pipe specification of the Z-shaped sinking connection member 12 is one size smaller than that of the cross node connection member 11, so that one end of the Z-shaped sinking connection member 12 can be inserted into the cross node connection member 11. By adopting a socket-and-spigot connection method, the Z-shaped sinking connection member 12 can adjust the depth of insertion into the cross node connection member 11 in the horizontal direction, and flexibly meet the arrangement position of the pile driving frame 3.

[0109] The cross node level 13 is composed of an electronic module and a level module of the prior art. Among them, the level module of the cross node level 13 can display the horizontal situation of the cross connection member 11 through the inclination of the liquid surface. The electronic module of the cross node level 13 is used to determine the angle of the cross node level 13 by measuring the angle with the geomagnetic field, and transmit the angle data to the pile frame three-axis acceleration sensor and the control center 14 in real time.

[0110] Preferably, the pile frame triaxial acceleration sensor and control center 14 are composed of triaxial acceleration sensors and control centers of the prior art. The triaxial acceleration sensor is used to monitor the triaxial inclination angle, the angle with the geomagnetic field, and the triaxial acceleration of the cross-node connecting member 11. The control center includes a controllable device equipped with a data processing and calculation program, which is used to receive monitoring data of the cross-node connecting member 11, the pile body posture sensor 51 on the anchor static pile section 5, and the cross-node level 13, and dynamically output the force and stroke data of the pile pressing to the jack 2.

[0111] During the construction process, the changes in relative angles monitored by the cross-node level 13, the pile frame triaxial acceleration sensor and the control center 14 can detect the displacement and deformation of the entire central cross-node 1, thereby determining the self-displacement angle of the central cross-node component 11 and the safety of the component.

[0112] The top plate 15 is installed at the bottom center of the cross node connecting member 11 and contacts the top of the anchor static pile section 5 , playing the role of dispersing the pile pressing force of the four jacks 2 .

[0113] Please see attached Figure 7 Each group of the pile-pressing frames 3 includes pile-pressing frame limbs 31 and pile-pressing frame bottom plates 32; a pair of pile-pressing frame bottom plates 32 are fixedly installed at the anchor static pile construction position, and a pair of vertical pile-pressing frame limbs 31 are symmetrically arranged on each pile-pressing frame bottom plate 32, so that the four pile-pressing frame limbs 31 are distributed in a matrix-like interval; the movable distribution beam 4 can movably pass through the two pairs of pile-pressing frame limbs 31, and the other end of the Z-shaped sinking connecting member 12 extends between the two pairs of pile-pressing frame limbs 31.

[0114] The pile driving frame bottom plate 32 is used to be fixed on the pile driving foundation, and the surface contact method ensures that the pile driving frame 3 is installed stably and firmly. A cross-shaped gap is formed between the four pile driving frame branches 31 distributed in a matrix manner. The movable distribution beam 4 is inserted into the gap in the horizontal direction and can move vertically. The other end of the Z-shaped sinking connecting member 12 is inserted into the gap in the longitudinal direction and can move vertically.

[0115] Please see attached Figure 7A plurality of pin holes 34 are formed at vertical intervals on each of the pile driving frame limbs 31, and a limit support pin shaft 35 is movably inserted in the pin hole 34. The two limit support pin shafts 35 are respectively located above the movable distribution beam 4 and pass through the two pairs of pile driving frame limbs 31, so that the movable distribution beam 4 is locked on the pile driving frame limbs 31 of the pile driving frame 3.

[0116] The two limit support pins 35 inserted at the same height position serve as vertical support points of the movable distribution beam 4, providing vertical upward constraints for the jack 2 and the movable distribution beam 4, so that the top extension end of the jack 2 can press down the Z-shaped sinking connecting member 12 when it is extended.

[0117] The number and spacing of the latch holes 34 can be adjusted according to the height adaptability of the movable distribution beam 4. The latch holes 34 and the limit support pin shafts 35 are plugged in, which is convenient and quick to disassemble and assemble. The length direction of the limit support pin shaft 35 is perpendicular to the length direction of the movable distribution beam 4 to ensure effective restraint of the movable distribution beam 4.

[0118] Please see attached Figure 5 The movable distribution beam 4 comprises a movable distribution beam body 41, an electric damping pulley quick-release plate 43, a pulley block 44 and a quick-release plate connecting hinge 45; the pulley block 44 is rotatably mounted on the electric damping pulley quick-release plate 43 through the quick-release plate connecting hinge 45, and the electric damping pulley quick-release plate 43 is fixedly mounted on the movable distribution beam body 41 by bolts; four groups of pulley blocks 44 are respectively mounted on the two surface ends of the movable distribution beam body 41, and a vertical pile pressing frame guide rail 33 is provided on the pile pressing frame limb 31, so that the four groups of pulley blocks 44 are respectively slidably connected with the pile pressing frame guide rails 33 on the four pile pressing frame limbs 31 of the pile pressing frame 3.

[0119] Preferably, the movable distribution beam body 41 can be made of I-beam, and its specifications and dimensions can be adaptively selected according to the spacing between the four pile driving frame limbs 31 of the pile driving frame 3 .

[0120] The quick-release plate connecting hinge 45 hinges the pulley block 44 on the electric damping pulley quick-release plate 43, and the electric damping pulley quick-release plate 43 is fixed to the movable distribution beam body 41 by four bolts, so that the pulley block 44 can have a two-way angle adjustment function relative to the movable distribution beam body 41 through the quick-release plate connecting hinge 45, so that the pulley block 44 can match and be embedded in the pile driving frame guide rail 33 and slide flexibly.

[0121] Each pulley block 44 is composed of a plurality of electric damping pulleys 42. Preferably, each pulley block 44 may be composed of two rows of symmetrical electric damping pulleys 42, with four electric damping pulleys 42 arranged in each row, and the number of electric damping pulleys 42 may also be adaptively adjusted according to actual use requirements.

[0122] The electric damping pulley 42 of the prior art has remote control and self-locking functions, and can slide flexibly along the pile driving frame guide rail 33 and temporarily self-lock at any position of the pile driving frame guide rail 33 to achieve the vertical position change of the movable distribution beam body 41 relative to the pile driving frame 3.

[0123] Please see attached Figure 1 To Attachment Figure 8 A control method for a balanced self-adjusting down-pressure low-clearance anchor static pile driver comprises the following steps:

[0124] Step 1: The pile-pressing frames 3 are fixedly installed at the construction position of the anchor static pile, so that four groups of pile-pressing frames 3 are evenly distributed around the anchor static pile section 5 in the circumferential direction.

[0125] Specifically, the step 1 includes the following sub-steps:

[0126] Step 1.1: A pile pressure foundation is set at the construction location of the anchor static pressure pile or an existing building is used as a pile pressure foundation, and anchor bolts are arranged on the pile pressure foundation as connecting parts of the pile pressure frame bottom plate 32.

[0127] Step 1.2: A pair of pile driving frame bottom plates 32 are fixedly mounted on the pile driving foundation via connecting pieces, and a pair of pile driving frame branches 31 are symmetrically mounted on each pile driving frame bottom plate 32 .

[0128] Step 2: Pile position measurement and setting, hoisting the first section of the anchor static pressure pile, i.e., the anchor static pressure pile section 5, and temporarily fixing the anchor static pressure pile section 5.

[0129] The anchor static pressure pile segment 5 is temporarily fixed by conventional means such as temporary brackets, and the temporary fixing method is not limited.

[0130] Step 3: Install the central cross node 1 on the top of the anchor static pile segment 5.

[0131] Under the condition of abundant site space, the installation method of the central cross node 1 is:

[0132] Step 3.1.1: Install the top plate 15 on the top of the anchor static pile section 5.

[0133] Step 3.1.2: Assemble on the ground, install the pile frame triaxial acceleration sensor and control center 14 at the top center of the cross-node connecting component 11, install four sets of cross-node levels 13 at the top of the four sides of the cross-node connecting component 11 and wirelessly connect them to the pile frame triaxial acceleration sensor and control center 14.

[0134] Step 3.1.3: Insert one end of the four groups of Z-shaped sinking connection members 12 into the four sides of the cross node connection member 11 , and insert the other end of the four groups of Z-shaped sinking connection members 12 between the two pairs of pile driving frame branches 31 of the four groups of pile driving frames 3 .

[0135] Step 3.1.4: Install the bottom center of the cross node connecting member 11 onto the top plate 15.

[0136] Under the condition that the site space or installation conditions are limited, the installation method of the central cross node 1 is:

[0137] Step 3.2.1: Install a capping plate 15 on the top of the anchor static pile section 5.

[0138] Step 3.2.2: Install the cross node connection member 11 on the top plate 15.

[0139] Step 3.2.3: Install the pile frame triaxial acceleration sensor and control center 14 at the top center of the cross node connection component 11, and install four sets of cross node levels 13 at the top of the four sides of the cross node connection component 11 and wirelessly connect them to the pile frame triaxial acceleration sensor and control center 14.

[0140] Step 3.2.4: Insert one end of the four groups of Z-shaped sinking connection members 12 into the four sides of the cross node connection member 11 , and insert the other end of the four groups of Z-shaped sinking connection members 12 between the two pairs of pile driving frame branches 31 of the four groups of pile driving frames 3 .

[0141] Step 4: hoist four groups of mobile distribution beams 4 onto four groups of pile-driving frames 3 respectively, and lock the mobile distribution beams 4 onto the pile-driving frames 3 .

[0142] The hoisting and locking methods of each group of mobile distribution beams 4 are the same. Taking a group of mobile distribution beams 4 as an example, the step 4 includes the following sub-steps:

[0143] Step 4.1: hoist the movable distribution beam body 41 between the two pairs of pile driving frame branches 31 of the pile driving frame 3 .

[0144] Step 4.2: The four pulley blocks 44 at both ends of the mobile distribution beam body 41 are respectively slidably set on the pile driving frame guide rails 33 of the two pairs of pile driving frame branches 31, and the mobile distribution beam body 41 is temporarily fixed on the pile driving frame 3 by using the self-locking function of the electric damping pulley 42.

[0145] Step 4.3: Insert the limit support pins 35 into each of the pin holes 34 above the movable distribution beam body 41 , and the limit support pins 35 pass through a pair of pile driving frame limbs 31 , so that the movable distribution beam body 41 is locked on the pile driving frame 3 through the four limit support pins 35 .

[0146] Step 5: Install the jack 2 between the extended section of the central cross node 1 , that is, the other end of the Z-shaped sinking connection member 12 and the movable distribution beam body 41 of the movable distribution beam 4 .

[0147] Step 6: A pile body attitude sensor 51 is installed on the anchor static pressure pile segment 5 , and the pile body attitude sensor 51 is wirelessly connected to the pile frame triaxial acceleration sensor of the central cross node 1 and the control center 14 .

[0148] Step 7: The jack 2 performs pre-compression and checks the response of the pile body posture sensor 51 . The pile body posture sensor 51 feeds back the pile body posture data to the pile frame three-axis acceleration sensor and the control center 14 .

[0149] Step 8: The pile frame triaxial acceleration sensor and control center 14 automatically calculate the forces of the four jacks 2 in the initial state through the pile body posture data.

[0150] Step 9: Use the set force to press the pile with the jack 2, and make corrections in real time during the pressing process until one stroke of the jack 2 is completed.

[0151] Please see attached Figure 8 Specifically, the pile pressing and correction process of the jack 2 is:

[0152] A coordinate system is established with the top center of the anchor static pile segment 5 as the center of the circle. The four jacks 2 are located on the x-axis and y-axis respectively, and are denoted as jack x1, jack x2, jack y1, and jack y2. x1 , L x2 , L y1 , L y2 They are respectively the distances from jack x1, jack x2, jack y1, jack y2 to the center of the top surface of the anchor static pile section 5.

[0153] Assume that in the first n pile pressures, the vertical control forces of jack x1, jack x2, jack y1, and jack y2 during the i-th pressure are F x1,i 、F x2,i 、F y1,i 、F y2,i , i=0,1,2,…,n.

[0154] The pile body posture sensor 51 measures that the inclination angles of the anchor static pressure pile segment 5 relative to the y-axis and the x-axis under the i-th downward pressure are α and i , β i Under the i-th downward pressure, the rotation angles of the anchor static pile segment 5 relative to the y-axis and the x-axis are Δα i , Δβ i , which is calculated as follows:

[0155] Δα i =α i -α i-1

[0156] Δβ i =β i -β i-1

[0157] By the rotation angle Δα i , Δβ i Composed rotation angle matrix D α , D β , which is expressed as follows:

[0158]

[0159]

[0160] Assume that the unbalanced moments rotating around the y-axis and x-axis are M yi , M xi :M yi =F x1,i L x1 -F x2,i L x2

[0161] M xi =F y1,i L y1 -F y2,i L y2

[0162] The matrix composed of the unbalanced moments under each tension is as follows:

[0163]

[0164]

[0165] The matrix composed of the rotation angles around the y-axis and x-axis under each tension is as follows:

[0166]

[0167]

[0168] The weight matrix is ​​defined as follows:

[0169]

[0170]

[0171] Assume that the torsion of anchor static pile segment 5 under the i-th downward pressure is θ i , the torsion angle increment is Δθi , the weight coefficient is defined as follows:

[0172]

[0173]

[0174] The correction coefficient matrices A and B that define the unbalanced moments around the y-axis and x-axis are as follows:

[0175]

[0176]

[0177] The correction coefficient matrices A and B can be calculated using the following formulas:

[0178]

[0179]

[0180] Among them, the coefficient p y 、p x 、r x 、r y It can be determined by value finding calculation. The calculation accuracy is calculated according to the equipment computing power and construction accuracy control requirements. The calculated coefficient p y 、p x 、r x 、r y Minimize the following formula:

[0181]

[0182]

[0183] Based on the calculation results of the previous n times, the force of the pile driving for the n+1th time is controlled.

[0184] The magnitude of the unbalanced moment M around the y-axis and x-axis under the n+1th pile pressure yn+1 、M xn+1 By solving the following equations respectively:

[0185] α i =a2M yn+1 -1 +a1M yn+1 +a0

[0186] β i =b2M xn+1 -1 +b1M xn+1 +b0

[0187] The total combined force control value of the n+1th pile driving is Fn+1 , the forces acting on each pile under the force of the n+1th pile pressure are:

[0188]

[0189]

[0190]

[0191]

[0192] The possible M yn+1 、M xn+1 There are multiple solutions, requiring that the force exerted by each jack 2 on the pile is not negative, and the upper limit of the force exerted on the pile is In this way, the jacks 2 arranged around the anchor static pressure pile section 5 are controlled by force to achieve the function of balanced self-adjustment.

[0193] Step 10: Retract the jack 2 and restore the stroke.

[0194] Step 11: Unlock the movable distribution beam 4 , and the movable distribution beam 4 moves downward on the pile driving frame 3 along the pile driving frame guide rail 33 through the electric damping pulley 42 , and moves to the upper top surface of the jack 2 .

[0195] Step 12: After the mobile distribution beam 4 is moved into position, the limit support pin 35 is inserted into the pin hole 41 above the mobile distribution beam body 41 of the mobile distribution beam 4 to lock the mobile distribution beam 4.

[0196] Step 13: Repeat steps 9 to 12 until the anchor static pile segment 5 is pressed to the designed elevation.

[0197] Each section of the anchor static pressure pile 5 is pressed using the same method, which will not be described one by one here, until the construction of the anchor static pressure pile is completed.

[0198] The above description is only a description of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any changes or modifications made by a person skilled in the art in the field of the present invention based on the above disclosure shall fall within the scope of protection of the claims.

Claims

1. A balanced self-adjusting down-pressure low-clearance anchor static pile driver, characterized in that: include: A central cross node (1), a jack (2), a pile pressing frame (3) and a movable distribution beam (4); the pile pressing frame (3) is fixedly installed at the construction position of the anchor static pile, and four groups of pile pressing frames (3) are evenly distributed around the anchor static pile segment (5); the central cross node (1) is a cross-shaped structure, the middle of the central cross node (1) is installed on the top of the anchor static pile segment (5), and the central cross node (1) forms four extension sections in all directions, and the four extension sections extend to the inside of the four groups of pile pressing frames (3) respectively. Each group of pile driving frames (3) is provided with a movable distribution beam (4) which can be locked on the pile driving frame (3); the movable distribution beam (4) is located above the extension section of the pile driving frame (3); the jack (2) is installed between the movable distribution beam (4) and the extension section of the pile driving frame (3) and is wirelessly connected to the central cross node (1), so that the jack (2) can press down the anchor static pile segment (5); the anchor static pile segment (5) is provided with a pile body posture sensor (51) which is wirelessly connected to the central cross node (1).

2. The balanced self-adjusting down-pressure low-clearance anchor static pile driver according to claim 1, characterized in that: The central cross node (1) comprises a cross node connecting member (11), a Z-shaped sinking connecting member (12), a cross node level (13), a pile frame triaxial acceleration sensor and control center (14) and a top plate (15); the pile frame triaxial acceleration sensor and control center (14) are arranged at the top center of the cross node connecting member (11), and four groups of cross node levels (13) are respectively correspondingly installed at the top of the four sides of the cross node connecting member (11) and connected to the pile frame triaxial acceleration sensor and control center (14). Wireless connection; one end of four Z-shaped sinking connection members (12) are respectively plugged into the four sides of the cross node connection member (11); the other ends of the four Z-shaped sinking connection members (12) are inserted into the pile driving frame (3) as extension sections and are located below the movable distribution beam (4), so that the jack (2) is arranged between the other end of the Z-shaped sinking connection member (12) and the movable distribution beam (4); the top pressure plate (15) is installed at the bottom center of the cross node connection member (11) and is connected to the top of the anchor static pressure pile section (5).

3. The balanced self-adjusting down-pressure low-clearance anchor static pile driver according to claim 2, characterized in that: Each group of the pile driving frames (3) comprises pile driving frame limbs (31) and pile driving frame bottom plates (32); a pair of pile driving frame bottom plates (32) are fixedly installed at the anchor static pressure pile construction position, and a pair of vertical pile driving frame limbs (31) are symmetrically arranged on each pile driving frame bottom plate (32), so that the four pile driving frame limbs (31) are distributed in a matrix-like interval; the movable distribution beam (4) movably runs through the two pairs of pile driving frame limbs (31), and the other end of the Z-shaped sinking connection member (12) extends between the two pairs of pile driving frame limbs (31).

4. The balanced self-adjusting down-pressure low-clearance anchor static pile driver according to claim 3, characterized in that: A plurality of pin holes (34) are formed at vertical intervals on each of the pile driving frame branches (31), and a limit support pin shaft (35) is movably inserted in the pin hole (34). The two limit support pin shafts (35) are respectively located above the movable distribution beam (4) and penetrate the two pairs of pile driving frame branches (31), so that the movable distribution beam (4) is locked on the pile driving frame branches (31) of the pile driving frame (3).

5. The balanced self-adjusting down-pressure low-clearance anchor static pile driver according to claim 4, characterized in that: The movable distribution beam (4) comprises a movable distribution beam body (41), an electric damping pulley quick-release plate (43), a pulley block (44) and a quick-release plate connecting hinge (45); the pulley block (44) is rotatably mounted on the electric damping pulley quick-release plate (43) via the quick-release plate connecting hinge (45), and the electric damping pulley quick-release plate (43) is fixedly mounted on the movable distribution beam body (41); four pulley blocks (44) are respectively mounted on two end portions of the movable distribution beam body (41), and a vertical pile pressing frame guide rail (33) is provided on the pile pressing frame limb (31), so that the four pulley blocks (44) are respectively slidably connected to the pile pressing frame guide rails (33) on the four pile pressing frame limbs (31) of the pile pressing frame (3); each pulley block (44) is composed of a plurality of electric damping pulleys (42).

6. A control method for a balanced self-adjusting down-pressure low-clearance anchor static pile driver according to claim 5, characterized in that: The following steps are involved: Step 1: The pile pressing frames (3) are fixedly installed at the construction position of the anchor static pressure pile, so that four groups of pile pressing frames (3) are evenly distributed around the anchor static pressure pile section (5); Step 2: measuring and setting the pile position, hoisting the first section of the anchor static pressure pile, i.e. the anchor static pressure pile section (5), and temporarily fixing the anchor static pressure pile section (5); Step 3: Installing a central cross node (1) on the top of the anchor static pile segment (5); Step 4: hoisting four sets of mobile distribution beams (4) onto four sets of pile-pressing frames (3) respectively, and locking the mobile distribution beams (4) onto the pile-pressing frames (3); Step 5: Install the jack (2) between the other end of the Z-shaped sinking connection member (12), which is an extension of the central cross node (1), and the movable distribution beam body (41) of the movable distribution beam (4); Step 6: Install a pile body attitude sensor (51) on the anchor static pressure pile segment (5), and the pile body attitude sensor (51) is wirelessly connected to the pile frame triaxial acceleration sensor of the central cross node (1) and the control center (14); Step 7: The jack (2) performs pre-compression and checks the response of the pile body posture sensor (51), and the pile body posture sensor (51) feeds back the pile body posture data to the pile frame three-axis acceleration sensor and the control center (14); Step 8: The pile frame triaxial acceleration sensor and control center (14) automatically calculates the forces of the four jacks (2) in the initial state through the pile body posture data; Step 9: The jack (2) is used to press the pile with a set force, and corrections are made in real time during the pressing process until one stroke of the jack (2) is completed; Step 10: Retract the jack (2) to restore the stroke; Step 11: The movable distribution beam (4) is unlocked, and the movable distribution beam (4) moves downward on the pile driving frame (3) along the pile driving frame guide rail (33) through the electric damping pulley (42), and moves to the upper top surface of the jack (2); Step 12: After the movable distribution beam (4) is moved into position, a limit support pin (35) is inserted into the pin hole (41) above the movable distribution beam body (41) of the movable distribution beam (4) to lock the movable distribution beam (4); Step 13: Repeat steps 9 to 12 until the anchor static pile segment (5) is pressed to the designed elevation.

7. The control method according to claim 6, characterized in that: The step 1 comprises the following sub-steps: Step 1.1: Setting a pile pressure foundation at the construction location of the anchor static pressure pile or using an existing building as the pile pressure foundation, and arranging the connection parts of the pile pressure frame bottom plate (32) on the pile pressure foundation; Step 1.2: A pair of pile driving frame bottom plates (32) are fixedly mounted on the pile driving foundation via connecting pieces, and a pair of pile driving frame branches (31) are symmetrically mounted on each pile driving frame bottom plate (32).

8. The control method according to claim 6, characterized in that: Under the condition of ample site space, the installation method of the central cross node (1) is: Step 3.1.1: Install a top plate (15) on the top of the anchor static pile section (5); Step 3.1.2: Assemble on the ground, install the pile frame triaxial acceleration sensor and control center (14) at the top center of the cross node connection component (11), install four sets of cross node levels (13) at the top of the four sides of the cross node connection component (11) and connect them wirelessly with the pile frame triaxial acceleration sensor and control center (14); Step 3.1.3: insert one end of the four groups of Z-shaped sinking connection members (12) into the four sides of the cross node connection member (11), and insert the other end of the four groups of Z-shaped sinking connection members (12) between two pairs of pile driving frame branches (31) of the four groups of pile driving frames (3); Step 3.1.4: Install the bottom center of the cross node connecting member (11) onto the top plate (15); Under the condition that the site space or installation conditions are limited, the installation method of the central cross node (1) is: Step 3.2.1: Install a top plate (15) on the top of the anchor static pile section (5); Step 3.2.2: Install the cross node connection member (11) on the top plate (15); Step 3.2.3: Install the pile frame triaxial acceleration sensor and control center (14) at the top center of the cross node connection component (11), install four sets of cross node levels (13) at the top of the four sides of the cross node connection component (11) and wirelessly connect them to the pile frame triaxial acceleration sensor and control center (14); Step 3.2.4: Insert one end of the four groups of Z-shaped sinking connection members (12) into the four sides of the cross node connection member (11), and insert the other end of the four groups of Z-shaped sinking connection members (12) between the two pairs of pile driving frame branches (31) of the four groups of pile driving frames (3).

9. The control method according to claim 6, characterized in that: The step 4 comprises the following sub-steps: Step 4.1: hoisting the movable distribution beam body (41) between two pairs of pile driving frame branches (31) of the pile driving frame (3); Step 4.2: The four pulley blocks (44) at the two ends of the movable distribution beam body (41) are respectively slidably arranged on the pile driving frame guide rails (33) of the two pairs of pile driving frame branches (31), and the movable distribution beam body (41) is temporarily fixed on the pile driving frame (3) by using the self-locking function of the electric damping pulley (42); Step 4.3: Insert the limit support pins (35) into the pin holes (34) above the movable distribution beam body (41) respectively, and the limit support pins (35) pass through a pair of pile driving frame branches (31), so that the movable distribution beam body (41) is locked on the pile driving frame (3) through the four limit support pins (35).

10. The control method according to claim 6, characterized in that: The pile pressing and correction process of the jack (2) is: A coordinate system is established with the center of the top surface of the anchor static pile segment (5) as the center of the circle. The four jacks (2) are located on the x-axis and y-axis respectively, and are denoted as jack x1, jack x2, jack y1, and jack y2. x1 , L x2 , L y1 , L y2 are the distances from jack x1, jack x2, jack y1, jack y2 to the center of the top surface of the anchor static pile section (5); Assume that in the first n pile pressures, the vertical control forces of jack x1, jack x2, jack y1, and jack y2 during the i-th pressure are F x1,i 、F x2,i 、F y1,i 、F y2,i , i=0,1,2,…,n; The pile body posture sensor (51) is used to measure that the inclination angles of the anchor static pressure pile section (5) relative to the y-axis and the x-axis under the i-th downward pressure are α and i , β i Under the i-th downward pressure, the rotation angles of the anchor static pile segment (5) relative to the y-axis and the x-axis are Δα i , Δβ i , which is calculated as follows: Da i =a i -a i-1 Db i =b i -b i-1 By the rotation angle Δα i , Δβ i Composed rotation angle matrix D α , D β , which is expressed as follows: Assume that the unbalanced moments rotating around the y-axis and x-axis are M yi , M xi : M yi =F x1,i L x1 -F x2,i L x2 M xi =F y1,i L y1 -F y2,i L y2 The matrix composed of the unbalanced moments under each tension is as follows: The matrix composed of the rotation angles around the y-axis and x-axis under each tension is as follows: The weight matrix is ​​defined as follows: Assume that the torsion of the anchor static pile segment (5) under the i-th downward pressure is θ i , the torsion angle increment is Δθ i , the weight coefficient is defined as follows: The correction coefficient matrices A and B that define the unbalanced moments around the y-axis and x-axis are as follows: The correction coefficient matrices A and B can be calculated using the following formulas: Among them, the coefficient p y 、p x 、r x 、r y Determined by value finding calculation, the calculation accuracy is calculated according to the equipment computing power and construction accuracy control requirements. The calculated coefficient p y 、p x 、r x 、r y Minimize the following formula: According to the calculation results of the previous n times, the force of the pile driving for the n+1th time is controlled; The magnitude of the unbalanced moment M around the y-axis and x-axis under the n+1th pile pressure yn+1 、M xn+1 By solving the following equations respectively: α i =a2M yn+1 -1 +a1M yn+1 +a0 b i =b2M xn+1 -1 +b1M xn+1 +b0 The total combined force control value of the n+1th pile driving is F n+1 , the forces acting on each pile under the force of the n+1th pile pressure are: If the desired M yn+1 、M xn+1 There are multiple solutions, requiring that the force exerted by each jack (2) on the pile is not negative, and the upper limit of the force exerted on the pile is In this way, the force of the jacks (2) arranged around the anchor static pressure pile section (5) is controlled reciprocatingly, thereby realizing the function of balanced self-adjustment.

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