Underwater automatic pile cutting system and underwater automatic pile cutting method for pile foundation construction

Abstract

The invention belongs to the technical field of pile foundation construction, and discloses an underwater automatic pile cutting system and method for pile foundation construction. The system comprises an automatic pile cutting control unit and an automatic pile cutting device; the automatic pile cutting control unit comprises an electrical control module, a sensing module, a rotary driving control module and a feeding driving module which are respectively arranged at different positions in the automatic pile cutting device; the automatic pile cutting device comprises a pile cutting working platform, a hoisting steel wire rope and a crane. Underwater automatic pile cutting which cannot be achieved visually in pile foundation construction is achieved through cooperation of software and hardware, accurate measurement and control over the sinking speed of the cutting device can be achieved in the sinking process of the automatic cutting device through a positioning rope of a crane and the like, and stable operation is guaranteed; a cutting head of the swing mechanism is provided with four circular blades, the rotating speed and the feeding speed of the blades are controlled through a servo motor, and the cutting efficiency and quality of automatic rotating cutting are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of underwater pile foundation construction, and in particular to an underwater automatic pile cutting system and an underwater automatic pile cutting method for pile foundation construction. Background Art

[0002] In the existing underwater pile foundation construction, the steel pipe pile cutting operation cannot be visually reached by the operators above the water surface, and cannot directly observe the operation status. Therefore, divers are required to carry cutting machinery to perform the operation underwater. The steel pipe pile cutting operation manually performed by divers can usually be carried out smoothly if it is sunny and calm, but the operation efficiency is low and the operation quality is unstable; if there are strong winds and waves, manual operation cannot be carried out at all, thus delaying the overall construction time of the project. Even when the weather is suitable, manual operation still has many technical problems such as short single operation time, large underwater measurement error, difficulty in underwater construction, low efficiency and high cost.

[0003] In order to solve the above problems, the Chinese invention patent application document with the announcement number CN112227367A discloses a pile cutting method of a pile cutter, wherein the pile cutter includes a machine base, a slewing mechanism, a pile cutting mechanism, a pile cutting detection device and a slewing detection device; a fixing device is provided on the outer wall of the machine base, and the slewing device is arranged in the machine base; the pile cutting mechanism is located below the slewing mechanism and connected to the slewing mechanism; the steel pile is detected in real time by the pile cutting detection device, and the slewing detection device detects the rotation angle of the pile cutting mechanism in real time; it operates according to the detection result, first drives the pile cutting member to rotate by the pile cutting driving device, and then drives the pile cutting member to extend from the pile cutting support to cut the steel pile; the pile cutting member contacts and cuts the steel pile in a rotating state, so as to avoid the problem that the pile cutting member contacts the steel pile first and then rotates, thereby causing the cutting opening on the steel pile to get stuck in the pile cutting member, thereby causing the pile cutting member to be damaged.

[0004] However, although the above patented technology can realize the control of the underwater pile cutting process, the structural design of the pile cutting machine is complex, the pile cutting control process is cumbersome, and automatic control cannot be achieved. For example, the provided pile cutting mechanism can only perform rotary cutting, and the rotation angle of the pile cutting mechanism is controlled at 25° each time. The diameter of the rotary cutting is greatly limited and can only be used for steel pipe piles of a specific diameter. It cannot adapt to the cutting operation of more steel pipe piles of different sizes. In addition, the pile cutting process relies on a separately set pile cutting detection device, lacks calibration, and has insufficient positioning accuracy; its operation process is relatively complicated, and it cannot be normally constructed in seawater environments with harsh natural conditions such as weather. It cannot operate when the weather is bad, and personnel are required to assist in underwater measurement and other tasks during normal operation; therefore, the automation, quality and efficiency of the cutting process and equipment of the patented technology need to be improved to better meet the various actual needs in engineering construction. Summary of the invention

[0005] The purpose of the present invention is to provide an underwater automatic pile cutting system and an underwater automatic pile cutting method for pile foundation construction. Through the coordinated cooperation of software and hardware, the automatic pile cutting control unit as the control part and the automatic pile cutting device as the execution part are improved synchronously according to the process requirements of automatic control. The hydraulic drive and the electric drive are combined to enable automatic detection, control and operation. Moreover, the advantage of the relatively stable environment inside (inner cavity) of the steel pipe pile is fully utilized, so that normal construction can be carried out in the seawater environment with bad natural conditions such as weather. By setting four supporting devices, the electrical control module monitors the oil pressure and the torque of the servo motor, monitors the torque of the blade in real time, and the electrical control module controls the rotation speed and feed speed of the blade, etc., the cutting efficiency and quality of steel pipe piles of various sizes under various working conditions are ensured to overcome the shortcomings of the prior art.

[0006] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: An underwater automatic pile cutting system for pile foundation construction, comprising an automatic pile cutting control unit as a control part and an automatic pile cutting device as an execution part; The automatic pile cutting control unit comprises: an electrical control module, a sensor module, a rotary drive control module, and a feed drive module, which are respectively arranged at different positions in the automatic pile cutting device; the electrical control module comprises a PLC controller and an underwater automatic pile cutting control program built into the PLC controller; the sensor module comprises a position sensor, a pressure sensor, a torque sensor, etc., and each sensor may comprise a plurality of sensor modules to accurately sense corresponding data; The automatic pile cutting device comprises: a pile cutting working platform, a lifting wire rope, and a crane; The pile cutting work platform comprises: a frame and a rotary drive compartment, a feed drive compartment, four supporting and fixing mechanisms, a rotary mechanism, a feed mechanism, a cutting assembly, and a hydraulic drive assembly which are sequentially fixed on the frame; The rotary drive compartment has a rotary drive control module built in; the feed drive compartment has a feed drive module built in; The four supporting and fixing mechanisms are evenly distributed and arranged and fixedly arranged on the outside of the frame; The slewing mechanism is arranged below the frame, and is connected to a hydraulic drive assembly; the hydraulic drive assembly comprises: a hydraulic pump, a hydraulic oil cylinder, and a plurality of hydraulic oil pipes; The cutting assembly is arranged at the lower part of the pile cutting work platform, and comprises: a central fixing part, four cutting units evenly distributed outside the central fixing part, a saw blade telescopic cylinder, a servo motor and a saw blade connected to the servo motor.

[0007] The supporting and fixing mechanism comprises: a supporting and fixing plate and a supporting oil cylinder connected to each other, wherein the supporting oil cylinder is connected to the hydraulic driving assembly through a hydraulic oil pipe; The outer side of the support fixing plate is a plane or an arc, and when the fixing plate is supported in place, it fits with the inner wall of the steel pipe pile.

[0008] The feeding mechanism is arranged below the slewing mechanism, and the feeding mechanism is connected to the feeding driving compartment through a hydraulic oil pipe.

[0009] Each cutting unit is connected to the central fixing part through a saw blade telescopic cylinder; the feeding mechanism includes: a servo motor, the servo motor includes a transmission shaft, each cutting unit is movably connected through the transmission shaft, and each cutting unit includes a saw blade below, and the saw blade is fixedly connected to the transmission shaft.

[0010] An underwater automatic pile cutting method for pile foundation construction comprises the following steps: S1. Set up and debug the underwater automatic pile cutting system Set up the underwater automatic pile cutting system for pile foundation construction, and then debug the pile cutting work platform: start the pile cutting work platform and check whether the working status of each component is normal, including checking the electrical control module, hydraulic drive assembly, support and fixing mechanism, slewing mechanism, feeding mechanism and cutting assembly; if any component is abnormal, perform maintenance and repair to ensure the normal operation of each component; Before the first operation at a new construction site, a test run is conducted on the set operating parameters to check whether the operating parameters meet expectations; the operating parameters include: saw blade speed, feed rate, cutting angle and rotation angular velocity; S2. Set the support plate Select a support fixing plate that matches the inner diameter of the steel pipe pile, and install the support fixing plate on the support fixing mechanism; S3. Lifting and positioning of the pile cutting work platform The crane hoists the pile cutting work platform to the top of the opening of the steel pipe pile located on the upper part of the water surface, so that the pile cutting work platform enters the opening of the steel pipe pile and descends at a uniform speed along the inner wall of the steel pipe pile. The electrical control module controls the length of the lifting wire rope and uses the wire rope fixing part to keep it stable during the descent process to accurately adjust the descending position of the pile cutting work platform so that the pile cutting work platform gradually reaches the vicinity of the cutting position of the steel pipe pile. The position sensor of the sensor module senses the designated position and checks that the marked wire rope reaches the designated position. When the positions of the two are consistent, the electrical control module controls the crane to stop descending. The electrical control module controls the feeding mechanism and the supporting oil cylinder to adjust the position of the supporting fixing plate, so that the outer wall of the supporting fixing plate fits the inner wall of the steel pipe pile, ensuring that it can be firmly fixed on the inner wall of the steel pipe pile; S4, Steel Pipe Pile Feed Cutting The electrical control module starts the cutting assembly, controls the servo motor to drive the saw blade to rotate and reach the specified speed, and then controls the feeding mechanism to feed, and the cutting assembly advances toward the inner wall of the steel pipe pile to start cutting the steel pipe pile; the electrical control module monitors the servo motor torque during the cutting process in real time to ensure the cutting quality and safety; after the saw blade reaches the specified position, the saw blade cuts through the steel pipe pile; the feeding mechanism stops feeding; the cutting assembly is kept stable through the limit bracket to prevent collision and displacement during the cutting process; S5, Steel Pipe Pile Rotation Cutting The rotary mechanism starts, and drives the cutting assembly to perform rotary cutting motion along the pipe wall through the connecting shaft until the electrical control module detects that the pipe wall of the steel pipe pile is completely cut off; after the pipe wall is completely cut off, the rotary mechanism stops, the feeding mechanism feeds in the reverse direction, the cutting assembly returns to the starting position, and the servo motor stops rotating; S6. Steel pipe pile hoisting After the pile cutting work platform and the steel pipe piles are hoisted to the specified vertical position by the wire rope by the crane, the supporting and fixing mechanism is retracted and the pile cutting work platform is hoisted by the crane; the cut steel pipe piles are hoisted by the crane for subsequent processing or transportation.

[0011] The advantages of the present invention include at least the following points: 1. The underwater automatic pile cutting system and underwater automatic pile cutting method for pile foundation construction provided by the present invention, through the coordinated cooperation of software and hardware, the automatic pile cutting control unit as the control part and the automatic pile cutting device as the execution part are improved synchronously according to the process requirements of automatic control, so that they can automatically detect, control and operate, and make full use of the advantage of the relatively stable internal environment of the steel pipe pile, so that normal construction can be carried out in seawater environments with severe natural conditions such as weather; by setting four supporting devices, the electrical control module monitors the oil pressure and the torque of the servo motor, monitors the torque of the blade in real time, and the electrical control module controls the rotation speed and feed speed of the blade and other technical means, the cutting efficiency and quality of steel pipe piles of various sizes under various working conditions are ensured, and the system can be widely used in construction operations under various working conditions and weather conditions.

[0012] 2. The underwater automatic pile cutting system and underwater automatic pile cutting method for pile foundation construction provided by the present invention improve the structure of the pile cutting work platform and cooperate with the crane and the wire rope to transport the pile cutting work platform to the inside of the steel pipe pile for cutting; the wire rope has the function of positioning the rope, and accurate measurement can be achieved during the sinking process of the automatic cutting device; the crane controls the wire rope to adjust the sinking of the pile cutting work platform, and the crane is convenient for controlling the sinking speed of the cutting device to ensure smooth operation.

[0013] 3. The underwater automatic pile cutting system and underwater automatic pile cutting method for pile foundation construction provided by the present invention improve the automation of the operation through the simultaneous improvement of various aspects of construction technology and equipment structure, and can ensure the efficiency and quality of underwater cutting operations. It mainly includes: four supporting devices are set up, which can be pushed outward and fixed on the inner wall of the steel pipe to form a stable supporting platform; the cutting assembly of the circular rotary mechanism is equipped with four circular blades to implement rotary cutting. Under the control of the electrical control module, the rotation speed and feed speed of the blade can be accurate and fast.

[0014] 4. The underwater automatic pile cutting system and underwater automatic pile cutting method for pile foundation construction provided by the present invention monitor the oil pressure and the torque of the servo motor through the electrical control module, monitor the torque of the blade in real time, and handle abnormal situations such as blade flakes. If an abnormality occurs, it can be hoisted ashore for inspection in time, without the need to set up a separate cutting monitoring device, and without the need for personnel to assist underwater, with a high degree of automation.

[0015] 5. The underwater automatic pile cutting system and underwater automatic pile cutting method for pile foundation construction provided by the present invention make full use of the advantage of the relatively stable internal environment of steel pipe piles by improving the structure, operation mode and steps of the pile cutting work platform, so that normal construction can be carried out in various harsh seawater environments, and still precise control, high efficiency and high quality can be achieved; the four circular blades cooperate with the rotary mechanism cutting blade to make the pile cutting operation stable and efficient; the present invention utilizes the waterless environment inside the steel pipe pile, is more suitable for cutting from the inside of the steel pipe pile, reduces the influence of seawater buoyancy and seawater flow, and overcomes many deficiencies of the prior art.

[0016] 6. The underwater automatic pile cutting system and underwater automatic pile cutting method for pile foundation construction provided by the present invention solve various technical problems existing in the prior art by improving the pile cutting working method and equipment, and can completely avoid relevant personnel from going into the water to participate in the operation (including auxiliary measurement), and also solve the problem that the long area of ​​steel pipe piles in deep water areas affects the navigation safety of ships; the cut steel pipe piles can be conveniently, quickly and safely lifted above the water surface for recycling and reuse, saving resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 1 is a control flow diagram of an underwater automatic pile cutting method according to an embodiment of the present invention; Figure 2 1 is a schematic diagram of the three-dimensional appearance structure of a pile cutting work platform according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the main structure of the pile cutting work platform after hoisting according to an embodiment of the present invention; Figure 4 2 is a schematic diagram of the top view of the pile cutting work platform after hoisting according to an embodiment of the present invention; Figure 52 is a schematic diagram of the left side structure of a pile cutting work platform according to an embodiment of the present invention; Figure 6 The present invention is a schematic diagram of the pile cutting work platform in a bottom view.

[0018] In the figure: 1. Pile cutting work platform; 2. Steel pipe pile; 3. Lifting wire rope; 4. Wire rope fixing part; 10. Frame; 11. Rotary drive compartment; 12. Feed drive compartment; 13. Support fixing mechanism; 131. Support fixing plate; 132. Support cylinder; 14. Rotary mechanism; 15. Feed mechanism; 16. Cutting component; 161. Saw blade; 162. Saw blade extension cylinder; 17. Hydraulic drive assembly; 18. Limit bracket; 19. Connecting shaft. DETAILED DESCRIPTION

[0019] The embodiments of the present invention are described in detail below.

[0020] Example 1 See also Figures 1 to 6 The underwater automatic pile cutting system for pile foundation construction provided by the embodiment of the present invention includes an automatic pile cutting control unit as a control part and an automatic pile cutting device as an execution part; The automatic pile cutting control unit comprises: an electrical control module, a sensor module, a rotary drive control module, and a feed drive module, which are respectively arranged at different positions in the automatic pile cutting device; the electrical control module comprises a PLC controller and an underwater automatic pile cutting control program built into the PLC controller; the sensor module comprises a position sensor, a pressure sensor, a torque sensor, etc., which automatically senses corresponding data and transmits it to the electrical control module according to the needs of automatic control of the system, so as to perform automatic control; The automatic pile cutting device comprises: a pile cutting work platform 1, a lifting wire rope 3, and a crane; The pile cutting work platform 1 comprises: a frame 10 and a rotary drive compartment 11, a feed drive compartment 12, four supporting and fixing mechanisms 13, a rotary mechanism 14, a feed mechanism 15, a cutting assembly 16, and a hydraulic drive assembly 17 which are fixed on the frame 10 in sequence; The rotary drive compartment 11 has a built-in rotary drive control module; the feed drive compartment 12 has a built-in feed drive module; The four supporting and fixing mechanisms 13 are evenly distributed and arranged and fixedly arranged on the outside of the frame 10; The slewing mechanism 14 is disposed below the frame 10 and is connected to a hydraulic drive assembly 17; the hydraulic drive assembly 17 includes: a hydraulic pump, a hydraulic cylinder, and a plurality of hydraulic oil pipes; The cutting assembly 16 is arranged at the lower part of the pile cutting work platform 1, and comprises a central fixing part, four cutting units evenly distributed outside the central fixing part, a saw blade telescopic cylinder 162, a servo motor and a saw blade 161 connected to the servo motor.

[0021] An underwater automatic pile cutting method for pile foundation construction comprises the following steps: S1. Set up and debug the underwater automatic pile cutting system An underwater automatic pile cutting system for pile foundation construction is set up, and then the pile cutting work platform is operated and debugged: the pile cutting work platform 1 is started, and the working status of each component is checked to see if it is normal, including checking the electrical control module, the hydraulic drive assembly 17, the supporting and fixing mechanism 13, the slewing mechanism 14, the feeding mechanism 15 and the cutting assembly 16; if any component is abnormal, maintenance and repair are performed to ensure that each component works normally; Before the first operation at a new construction site, a test run is conducted on the set operating parameters to check whether the operating parameters meet expectations; the operating parameters include: saw blade speed, feed rate, cutting angle and rotation angular velocity; Before the system works, the electrical control module is self-checked. During the self-check of the electrical control module, the main tasks are to check whether the built-in PLC controller and the underwater automatic pile cutting control program built into the PLC controller are normal, whether the connection and communication with each component are normal; check whether each moving component is in the starting position; check whether the operating parameter settings of each component meet the working requirements; S2. Set the support plate Select a support fixing plate 131 that matches the inner diameter of the steel pipe pile 2, and install the support fixing plate 131 on the support fixing mechanism 13; S3. Lifting and positioning of the pile cutting work platform The crane hoists the pile cutting work platform to the top of the opening of the steel pipe pile 2 located on the upper part of the water surface, so that the pile cutting work platform enters the opening of the steel pipe pile 2 and descends at a uniform speed along the inner wall of the steel pipe pile 2. The electrical control module controls the length of the lifting wire rope 3 and uses the wire rope fixing member 4 to maintain stability during the descent process to accurately adjust the descending position of the pile cutting work platform so that the pile cutting work platform gradually reaches the vicinity of the cutting position of the steel pipe pile 2. The position sensor of the sensor module senses the designated position and checks that the marked wire rope 3 has reached the designated position. When the positions of the two are consistent, the electrical control module controls the crane to stop descending. The electrical control module controls the feeding mechanism 15 and the supporting oil cylinder 132 to adjust the position of the supporting fixing plate 131, so that the outer wall of the supporting fixing plate 131 fits with the inner wall of the steel pipe pile 2, ensuring that it can be firmly fixed on the inner wall of the steel pipe pile 2; The electrical control module automatically controls the maximum hydraulic pressure value according to the preset value: the standard is set to the pressure required to support 1.375-2.0 times the weight of the whole equipment + 1.0MPa. When the pressure is exceeded, the relief valve will overflow; each of the supporting oil cylinders 132 is set to a parallel structure to ensure that the hydraulic pressure of each supporting oil cylinder 132 is consistent; The electrical control module also includes a pressure monitoring module, which can sense pressure data and provide it to the electrical control module for pressure maintenance and pressure supplementation judgment to ensure stable support of the equipment during operation; S4, Steel Pipe Pile Feed Cutting The electrical control module starts the cutting assembly 16, controls the servo motor to drive the saw blade 161 to rotate and reach the specified speed, and then controls the feeding mechanism 15 to feed, and the cutting assembly 16 advances toward the inner wall of the steel pipe pile 2 to start cutting the steel pipe pile 2; the electrical control module monitors the servo motor torque during the cutting process in real time to ensure the cutting quality and safety; after the saw blade 161 reaches the specified position, the saw blade 161 cuts through the steel pipe pile 2; the feeding mechanism 15 stops feeding; the cutting assembly 16 is kept stable by the limit bracket to prevent collision and displacement during the cutting process; S5, Steel Pipe Pile Rotation Cutting The rotary mechanism 14 is started, and drives the cutting assembly 16 to perform rotary cutting motion along the pipe wall through the connecting shaft 19 until the electrical control module detects that the pipe wall of the steel pipe pile 2 is completely cut off; after the pipe wall is completely cut off, the rotary mechanism 14 stops, the feeding mechanism 15 feeds in the reverse direction, the cutting assembly 16 returns to the starting position, and the servo motor stops rotating; The cutting head of the rotary mechanism 14 is equipped with four symmetrical circular blades, and the rotation speed and feed speed of the blades are controlled by a servo motor, which can ensure the cutting efficiency and quality of automatic rotary cutting; S6. Steel pipe pile hoisting After the pile cutting platform 1 and the steel pipe pile 2 are hoisted to a specified vertical position by a crane, the supporting and fixing mechanism 13 is retracted and the pile cutting platform 1 is hoisted by the crane; the cut steel pipe pile 2 is hoisted by the crane for subsequent processing or transportation.

[0022] The underwater automatic pile cutting system and underwater automatic pile cutting method for pile foundation construction provided by the embodiment of the present invention, through the coordinated cooperation of software and hardware, the automatic pile cutting control unit as the control part and the automatic pile cutting device as the execution part are improved synchronously according to the process requirements of automatic control, so that they can automatically detect, control and operate, and fully utilize the advantage of the relatively stable internal environment of the steel pipe pile, so that normal construction can be carried out in seawater environments with severe natural conditions such as weather; by setting four supporting devices, the electrical control module monitors the oil pressure and the torque of the servo motor, monitors the torque of the blade in real time, and the electrical control module controls the rotation speed and feed speed of the blade and other technical means, so as to ensure the cutting efficiency and quality of steel pipe piles of various sizes under various working conditions, and can be widely used in construction operations under various working conditions and weather conditions.

[0023] Example 2 See also Figures 1 to 6 The underwater automatic pile cutting system for pile foundation construction provided by the embodiment of the present invention is an optimization based on Example 1.

[0024] See also Figures 2 to 6 The supporting and fixing mechanism 13 comprises: a supporting and fixing plate 131 and a supporting oil cylinder 132 connected to each other, and the supporting oil cylinder 132 is connected to the hydraulic driving assembly 17 through a hydraulic oil pipe; The outer side of the supporting fixing plate 131 is a plane or an arc, and when the fixing plate 131 is supported in place, it fits with the inner wall of the steel pipe pile 2 .

[0025] The feeding mechanism 15 is disposed below the slewing mechanism 14 , and the feeding mechanism 15 is connected to the feeding drive compartment 12 via a hydraulic oil pipe.

[0026] Each cutting unit is connected to the central fixing part through a saw blade telescopic cylinder 162; the feeding mechanism 15 includes a servo motor, the servo motor includes a transmission shaft, and each cutting unit is movably connected through the transmission shaft. Each cutting unit includes a saw blade 161 below, and the saw blade 161 is fixedly connected to the transmission shaft.

[0027] The pile cutting work platform 1 further comprises: a connecting shaft 19; one end of the connecting shaft 19 is fixedly connected to the central fixing member, and the other end is movably connected to the rotary mechanism 14; The cutting assembly 16 further includes: four limiting brackets 18, each limiting bracket 18 is fixedly disposed between the four cutting units; The electrical control module is sealed and arranged on the pile cutting work platform 1; the electrical control module is electrically connected to the hydraulic drive assembly 17; The multiple steel ropes 3 are evenly arranged and respectively fixed on the outside of the frame 10; multiple steel rope fixing parts 4 are arranged between the multiple steel ropes 3, and the multiple steel rope fixing parts 4 can avoid steel wire entanglement and uniform stress during lifting; the crane is movably connected to the multiple steel ropes 3.

[0028] In other preferred embodiments, the frame 10 can be adjusted according to the shape of the steel pipe pile 2; if the steel pipe pile is cylindrical, the frame 10 is set as a circular frame; if the steel pipe pile 2 is a square pile, the frame 10 is set as a square frame to adapt to different situations.

[0029] In other preferred embodiments, the multiple lifting steel wire ropes 3 are evenly arranged as four and respectively fixed on the outside of the frame 10; four steel wire rope fixing parts 4 are sequentially arranged between the multiple steel wire ropes 3, and the four steel wire rope fixing parts 4 can avoid steel wire entanglement and uniform stress during lifting.

[0030] Example 3 See also Figures 1 to 6 The underwater automatic pile cutting method for pile foundation construction provided in this embodiment uses the aforementioned underwater automatic pile cutting system and is optimized based on the above-mentioned embodiments 1-2. The step S1 also includes a step in which the electrical control module performs a self-check on the system.

[0031] During the self-check process of the electrical control module, the main checks are whether the system's built-in PLC controller and the underwater automatic pile cutting control program built into the PLC controller are normal, whether the connection and communication with each component are normal; whether the preset parameters are complete; check whether each moving part is in the starting position; check whether the operating parameter settings of each component meet the work requirements, so that the overall system is fully prepared; if there are any imperfections, the self-check program will prompt the staff to deal with them, and the system will be started after the problems are eliminated.

[0032] Example 4 See also Figures 1 to 6 The underwater automatic pile cutting method for pile foundation construction provided in this embodiment uses the aforementioned underwater automatic pile cutting system and is optimized based on the above embodiments 1-3. The feeding cutting in step S4 also includes the following steps: S4-1. Torque judgment: The servo motor as a power source has a maximum output torque. When the equipment is working, the output torque is controlled by the torque sensor of the sensing module, and the working condition is judged: when the monitored output torque is ≤80% of the maximum output torque, it is automatically judged that the equipment is working normally; when the monitored output torque is ≥85%, it is automatically judged that the equipment working condition may be abnormal, and the system alarm is activated to prompt the staff to track and determine whether to terminate the equipment operation; when the monitored output torque is ≥95%, it is automatically judged that the equipment working condition is absolutely abnormal, and the system automatically terminates the work and returns to the starting position; S4-2. Control of cutting speed: The electrical control module sets the feed speed according to the cutting depth of the cutting material and the size of the saw blade. During the cutting process, it automatically adjusts the saw blade speed to control the cutting speed: if the torque value is less than 50% of the maximum output torque, the feed speed is automatically increased to increase the cutting speed; conversely, if the torque value is greater than 80% of the maximum output torque, the feed speed is automatically reduced to reduce the cutting speed; since the cutting speed is achieved by the cooperation of the feed speed and the saw blade speed, the electrical control module can achieve precise control of the cutting speed by adjusting the saw blade speed.

[0033] Example 5 See also Figures 1 to 6 The underwater automatic pile cutting method for pile foundation construction provided in this embodiment uses the aforementioned underwater automatic pile cutting system and is optimized based on the above embodiments 1-4. In step S5, the electrical control module detects that the pipe wall is completely cut off. The specific process is as follows: S5-1, preset rotation angle The PLC controller calculates the rotation angle when cutting according to the wall thickness and diameter of the steel pipe pile 2 to be cut, ensuring that the wall of the steel pipe pile 2 is completely cut off; S5-2. Judgment of steel pipe pile cutting Before the steel pipe pile is cut off, the torque values ​​of the slewing mechanism 14 and the cutting assembly 16 are both within a certain value fluctuation range. When the electrical control module detects that the torque value is lower than the value and tends to 0, and the torque duration is more than 3 seconds, it is determined that the steel pipe pile has been cut off; During the process of cutting the pipe wall of the steel pipe pile 2 to be cut, vibration and buzzing sound are generated; after the electrical control module completes step S5-2, the cutting component 16 is disengaged from the steel pipe pile 2. At this time, if it is detected that the vibration and buzzing sound generated are eliminated, it is further determined that the steel pipe pile has been cut off, which can avoid misjudgment.

[0034] In summary, the above-mentioned embodiments of the present invention are to coordinate the equipment and the method by improving the structure of the pile cutting work platform, coordinating with the crane and the wire rope, and automatically transporting the pile cutting work platform to the inside of the steel pipe pile and cutting it under the cooperation of software and hardware. The wire rope also has an auxiliary measurement function for positioning the length of the rope, and the accurate measurement of the cutting position can be achieved during the sinking process of the automatic cutting device; the crane controls the wire rope to adjust the sinking of the pile cutting work platform, and the crane can accurately control the sinking speed and position of the cutting device to ensure smooth and accurate operation.

[0035] The underwater automatic pile cutting system and underwater automatic pile cutting method for pile foundation construction provided by the present invention improve the automation degree of the operation through the simultaneous improvement of various aspects of construction technology and equipment structure, and can ensure the efficiency and quality of underwater cutting operations. It mainly includes: four supporting devices are set up, all of which can be pushed outward and fixed on the inner wall of the steel pipe to form a stable support platform; the cutting assembly of the circular rotary mechanism is equipped with four circular blades, which can implement rotary cutting. Under the control of the electrical control module, the rotation speed and feed speed of the blade can be accurate and fast. The underwater automatic pile cutting system and underwater automatic pile cutting method for pile foundation construction provided by the present invention monitor the oil pressure and the torque of the servo motor through the electrical control module, monitor the torque of the blade in real time, and handle abnormal situations such as blade jumping. If an abnormality occurs, it can be hoisted ashore for inspection in time, without the need to set up a cutting monitoring device separately, and without the need for personnel to assist underwater, and the degree of automation is high. The underwater automatic pile cutting system and underwater automatic pile cutting method for pile foundation construction provided by the present invention make full use of the advantage of the relatively stable internal environment of the steel pipe pile by improving the structure, operation mode and steps of the pile cutting work platform, so that normal construction can be carried out in various harsh seawater environments, and accurate control, high efficiency and high quality can still be achieved; four circular blades cooperate with the rotary mechanism cutting blade to make the pile cutting operation stable and efficient; the present invention utilizes the waterless environment in the steel pipe pile, is more suitable for cutting from the inside of the steel pipe pile, reduces the influence of seawater buoyancy and seawater flow, and overcomes various deficiencies of the prior art.

[0036] The above are only specific embodiments of the present invention, and the protection scope of the present invention is not limited thereto; any replacement and improvement made on the basis of not violating the concept of the present invention shall fall within the protection scope of the present invention.

Claims

1. An underwater automatic pile cutting system for pile foundation construction, characterized in that: It includes an automatic pile cutting control unit as a control part and an automatic pile cutting device as an execution part; The automatic pile cutting control unit comprises: an electrical control module, a sensor module, a rotary drive control module, and a feed drive module, which are respectively arranged at different positions in the automatic pile cutting device; the electrical control module comprises a PLC controller and an underwater automatic pile cutting control program built into the PLC controller; the sensor module comprises a position sensor, a pressure sensor, and a torque sensor; The automatic pile cutting device comprises: a pile cutting work platform (1), a lifting wire rope (3), and a crane; The pile cutting work platform (1) comprises: a frame (10), a rotary drive compartment (11), a feed drive compartment (12), four supporting and fixing mechanisms (13), a rotary mechanism (14), a feed mechanism (15), a cutting assembly (16), and a hydraulic drive assembly (17) which are fixed to the frame (10) in sequence; The rotary drive compartment (11) has a built-in rotary drive control module; the feed drive compartment (12) has a built-in feed drive module; The four supporting and fixing mechanisms (13) are evenly distributed and arranged and fixedly arranged on the outside of the frame (10); The slewing mechanism (14) is arranged below the frame (10), and the slewing mechanism (14) is connected to a hydraulic drive assembly (17); the hydraulic drive assembly (17) comprises: a hydraulic pump, a hydraulic cylinder, and a plurality of hydraulic oil pipes; The cutting assembly (16) is arranged at the lower part of the pile cutting work platform (1), and comprises a central fixing part, four cutting units evenly distributed outside the central fixing part, a saw blade telescopic cylinder (162), a servo motor, and a saw blade (161) connected to the servo motor.

2. The underwater automatic pile cutting system for pile foundation construction according to claim 1, characterized in that: The supporting and fixing mechanism (13) comprises: a supporting and fixing plate (131) and a supporting oil cylinder (132) which are connected to each other, and the supporting oil cylinder (132) is connected to the hydraulic drive assembly (17) via a hydraulic oil pipe; The outer side of the supporting fixing plate (131) is a plane or an arc, and when the fixing plate (131) is supported in place, it fits with the inner wall of the steel pipe pile (2).

3. The underwater automatic pile cutting system for pile foundation construction according to claim 1, characterized in that: The feeding mechanism (15) is arranged below the rotary mechanism (14), and the feeding mechanism (15) is connected to the feeding drive compartment (12) via a hydraulic oil pipe.

4. The underwater automatic pile cutting system for pile foundation construction according to claim 1, characterized in that: Each cutting unit is connected to the central fixing member via a saw blade telescopic cylinder (162); the feeding mechanism (15) comprises a servo motor, the servo motor comprises a transmission shaft, each cutting unit is movably connected via the transmission shaft, each cutting unit comprises a saw blade (161) below, and the saw blade (161) is fixedly connected to the transmission shaft.

5. The underwater automatic pile cutting system for pile foundation construction according to claim 1, characterized in that: The pile cutting work platform (1) further comprises: a connecting shaft (19); one end of the connecting shaft (19) is fixedly connected to the central fixing member, and the other end is movably connected to the rotary mechanism (14); The cutting assembly (16) further comprises: four limiting brackets (18), each limiting bracket (18) being fixedly arranged between the four cutting units; The electrical control module is sealed and arranged on the pile cutting work platform (1); the electrical control module is electrically connected to the hydraulic drive assembly (17); The plurality of steel wire ropes (3) are evenly arranged and respectively fixed on the outside of the frame (10); a plurality of steel wire rope fixing members (4) are arranged between the plurality of steel wire ropes (3), and the plurality of steel wire rope fixing members (4) can prevent the steel wires from being entangled and evenly stressed during hoisting; and the crane is movably connected to the plurality of steel wire ropes (3).

6. An underwater automatic pile cutting method for pile foundation construction, characterized in that: The following steps are involved: S1. Set up and debug the underwater automatic pile cutting system An underwater automatic pile cutting system for pile foundation construction is set up, and then the pile cutting work platform is operated and debugged: the pile cutting work platform (1) is started, and the working status of each component is checked to see whether it is normal, including checking the electrical control module, the hydraulic drive assembly (17), the support and fixing mechanism (13), the slewing mechanism (14), the feeding mechanism (15) and the cutting assembly (16); if any component is abnormal, maintenance and repair are performed to ensure that each component is working normally; Before the first operation at a new construction site, conduct a test run of the set operating parameters and check whether the operating parameters meet expectations; The operating parameters include: saw blade speed, feed rate, cutting angle and rotation angular velocity; S2. Set the support plate Selecting a support fixing plate (131) that matches the inner diameter of the steel pipe pile (2), and installing the support fixing plate (131) on the support fixing mechanism (13); S3. Lifting and positioning of the pile cutting work platform The crane hoists the pile cutting work platform to the top of the opening of the steel pipe pile (2) located above the water surface, so that the pile cutting work platform enters the opening of the steel pipe pile (2) and descends at a uniform speed along the inner wall of the steel pipe pile (2). The electrical control module controls the length of the lifting wire rope (3) and uses the wire rope fixing member (4) to maintain stability during the descent process to accurately adjust the descending position of the pile cutting work platform so that the pile cutting work platform gradually reaches the vicinity of the cutting position of the steel pipe pile (2). The position sensor of the sensor module senses the designated position and checks that the marked wire rope (3) has reached the designated position. When the positions of the two are consistent, the electrical control module controls the crane to stop descending. The electrical control module controls the feeding mechanism (15) and the supporting oil cylinder (132) to adjust the position of the supporting fixing plate (131), so that the outer wall of the supporting fixing plate (131) fits the inner wall of the steel pipe pile (2), thereby ensuring that the supporting fixing plate (131) can be firmly fixed on the inner wall of the steel pipe pile (2); S4, Steel Pipe Pile Feed Cutting The electrical control module starts the cutting assembly (16), controls the servo motor to drive the saw blade (161) to rotate and reach a specified speed, and then controls the feeding mechanism (15) to feed, so that the cutting assembly (16) advances toward the inner wall of the steel pipe pile (2) and starts cutting the steel pipe pile (2); the electrical control module monitors the servo motor torque in real time during the cutting process to ensure the quality and safety of the cutting; after the saw blade (161) reaches the specified position, the saw blade (161) cuts through the steel pipe pile (2); the feeding mechanism (15) stops feeding; and the cutting assembly (16) is kept stable by a limit bracket to prevent collision and displacement during the cutting process; S5, Steel Pipe Pile Rotation Cutting The rotary mechanism (14) is started, and drives the cutting assembly (16) to perform a rotary cutting motion along the pipe wall through the connecting shaft (19), until the electrical control module detects that the pipe wall of the steel pipe pile (2) is completely cut off; after the pipe wall is completely cut off, the rotary mechanism (14) stops, the feeding mechanism (15) feeds in the reverse direction, the cutting assembly (16) returns to the starting position, and the servo motor stops rotating; S6. Steel pipe pile hoisting After the pile cutting work platform (1) and the steel pipe pile (2) are lifted out to a specified vertical position by a steel wire rope by a crane, the supporting and fixing mechanism (13) is retracted and the pile cutting work platform (1) is lifted out by the crane; the cut steel pipe pile (2) is lifted by the crane to prepare for subsequent processing or transportation.

7. The underwater automatic pile cutting method for pile foundation construction according to claim 6, characterized in that: The step S1 further comprises the steps of: The electrical control module self-test is mainly used to check whether the built-in PLC controller and the underwater automatic pile cutting control program built into the PLC controller are normal, whether the connection and communication with each component are normal; check whether each moving component is in the starting position; check whether the operating parameter settings of each component meet the working requirements.

8. The underwater automatic pile cutting method for pile foundation construction according to claim 6, characterized in that: The step S3 also includes the following steps: The electrical control module automatically controls the maximum hydraulic pressure value according to a preset value: the standard is set to the pressure required to support 1.375-2.0 times the weight of the entire equipment + 1.0MPa, and when the pressure is exceeded, the overflow valve will overflow; each of the supporting oil cylinders (132) is set to a parallel structure to ensure that the hydraulic pressure of each supporting oil cylinder (132) is consistent; The electrical control module also includes a pressure monitoring module, which can sense pressure data and provide it to the electrical control module for pressure maintenance and pressure replenishment judgment to ensure stable support of the equipment during operation.

9. The underwater automatic pile cutting method for pile foundation construction according to claim 6, characterized in that: The feeding cutting in step S4 also includes the following steps: S4-1. Torque judgment: The servo motor as a power source has a maximum output torque. When the equipment is working, the output torque is controlled by the torque sensor of the sensing module, and the working condition is judged: when the monitored output torque is ≤80% of the maximum output torque, it is automatically judged that the equipment is working normally; when the monitored output torque is ≥85%, it is automatically judged that the equipment working condition may be abnormal, and the system alarm is activated to prompt the staff to track and determine whether to terminate the equipment operation; when the monitored output torque is ≥95%, it is automatically judged that the equipment working condition is absolutely abnormal, and the system automatically terminates the work and returns to the starting position; S4-2. Control of cutting speed: The electrical control module sets the feed speed according to the cutting depth of the cutting material and the size of the saw blade. During the cutting process, it automatically adjusts the saw blade speed to control the cutting speed: if the torque value is less than 50% of the maximum output torque, the feed speed is automatically increased to increase the cutting speed; conversely, if the torque value is greater than 80% of the maximum output torque, the feed speed is automatically reduced to reduce the cutting speed; since the cutting speed is achieved by the cooperation of the feed speed and the saw blade speed, the electrical control module can control the cutting speed by adjusting the saw blade speed.

10. The underwater automatic pile cutting method for pile foundation construction according to claim 6, characterized in that: The steps in step S5 where the electrical control module detects that the pipe wall is completely cut off are as follows: S5-1, preset rotation angle The PLC controller calculates the rotation angle when cutting according to the wall thickness and diameter of the steel pipe pile (2) to be cut, so as to ensure that the wall of the steel pipe pile (2) is completely cut off; S5-2. Judgment of steel pipe pile cutting Before the steel pipe pile is cut, the torque values ​​of the slewing mechanism (14) and the cutting assembly (16) are both within a certain value fluctuation range, and when the electrical control module detects that the torque value is lower than the value and tends to 0, and the torque duration is more than 3 seconds, it is determined that the steel pipe pile has been cut; During the process of cutting the wall of the steel pipe pile (2) to be cut, vibration and humming sound are generated; after the electrical control module completes step S5-2, the cutting assembly (16) is separated from the steel pipe pile (2). At this time, if it is detected that the generated vibration and humming sound are eliminated, it is further determined that the steel pipe pile has been cut.

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