Self-adaptive automatic pile cutting system and automatic pile cutting method for underwater pile foundation construction

Abstract

The invention belongs to the technical field of pile foundation construction, and discloses a self-adaptive automatic pile cutting system and method for underwater pile foundation construction, the pile cutting system comprises a self-adaptive pile cutting unit, and the self-adaptive pile cutting unit comprises an upper-layer self-adaptive supporting device, a lower-layer self-adaptive rotary cutting device and a vertical self-adaptive cutter relaxation device. On the basis of greatly simplifying a pile cutting system structure and a pile cutting process and improving the matching degree of equipment and the process, the self-adaptability of the pile cutting machine is improved from multiple aspects, so that the pile cutting machine can adapt to different cutters according to different pile bodies, gradients, different operation depths and angles, and the working efficiency is improved. According to the underwater pile cutting device, the operation requirements of straight piles, inclined piles, different types of pile bodies and different cutting tools are met at the same time, the pile bodies can be cut at any angle section, the efficiency, quality and safety of underwater pile cutting operation are improved, and the construction cost is reduced.

Description

Technical Field

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

[0002] In the construction of offshore wind power, offshore bridges and marine ranches, there is an increasing demand for underwater steel pipe piles, and their application is becoming more and more extensive. However, in existing underwater pile foundation construction operations, the problem of underwater cutting of steel pipe piles often needs to be solved; because underwater steel pipe piles cannot be directly operated visually, and due to external factors such as weather and hydrology, there are also problems such as large measurement errors, low cutting accuracy, and underwater construction difficulties during underwater pile cutting operations. Many engineering designs include straight piles and inclined piles of different diameters at the same time, especially underwater pile cutting operations under conditions such as deep water, inclined piles and complex environments, which poses a huge challenge to the existing pile cutting equipment and processes.

[0003] In order to solve these problems, CN117721801A discloses an unmanned cutting device and method compatible with underwater steel pipe piles of different inclination angles, wherein the cutting mechanism is arranged inside the pile bottom positioning hoop, and can move around the inner circle to cut the steel pipe pile from the outside of the steel pipe pile. However, the method of cutting from the outside of the steel pipe pile is greatly affected by the working environment, and it is difficult to accurately cut steel pipe piles of different diameters under complex environmental conditions such as deep water, and the cutting accuracy and adaptability are poor. In order to overcome the adverse effects of the external environment, CN116252247A discloses a cutting device for cutting steel piles underwater, which adopts the operation mode of cutting inside the pile, including a hanging beam mechanism, a posture adjustment mechanism, a cutting operation mechanism, a horizontal posture sensor and a processor, etc. However, since the hanging beam mechanism is set at the top of the steel pile, the operation depth is adjusted by a telescopic device with very complex structural design and adjustment, the structural design of the cutting operation mechanism is complex, the cutting efficiency is low, the operation accuracy is highly dependent on the coordination of complex sensing, calculation and communication, and the adaptability for operations of different pile bodies, depths, etc. is also poor. CN 117182268 A discloses an underwater cutting device for offshore wind power steel pipe piles. Aiming at the difficulty, danger and low cutting efficiency of underwater cutting of steel pipe piles, the device is improved and designed. The device comprises a machine base, a lifting mechanism, a pile cutting mechanism, a stable support mechanism, a real-time monitoring mechanism and a remote control system. However, the overall structure of the device is extremely complex. The sensing, communication and calculation control links of the pile cutting process are numerous and prone to errors (limited by the sensing and communication links). It is difficult to achieve reliable waterproofing. The matching degree between the device and the working method is not high (relying on remote control). The device has a weak adaptability to piles of different diameters, cross-sectional shapes and slopes. The deployment process is complex and the overall cost is too high. It is difficult to meet the needs of actual engineering projects. Summary of the invention

[0004] The object of the present invention is to provide an adaptive automatic pile cutting system and an automatic pile cutting method for underwater pile foundation construction. Through various structural improvements, on the basis of greatly simplifying the structure of the pile cutting system and the pile cutting process and improving the matching degree between the equipment and the process, the adaptability thereof is improved from multiple aspects, so that it can adapt different tools for different pile bodies, slopes, different operating depths and angles, so as to simultaneously meet the operating requirements of straight piles and inclined piles, different types of pile bodies and different cutting tools, and can realize the cutting of the pile body at any angle (non-horizontal) section, and improve the efficiency, quality and safety of the underwater pile cutting operation, reduce the construction cost, so as to solve the various problems in the above-mentioned prior art.

[0005] The present invention provides the following technical solutions: An adaptive automatic pile cutting system for underwater pile foundation construction includes an adaptive pile cutting unit for adaptively cutting piles in piles, the unit includes: an upper adaptive support device, a lower adaptive rotary cutting device, and a vertical adaptive tool tensioning device; The upper adaptive support device is arranged directly above the lower adaptive rotary cutting device, and the vertical adaptive telescopic tensioning device is arranged at the center of the upper adaptive support device and the lower adaptive rotary cutting device, and the centers of the three are on the same axis; The upper adaptive support device includes a plurality of adaptive transverse telescopic support mechanisms. During operation, the plurality of transverse telescopic support mechanisms move laterally outward or inward to adjust the contact position and angle with the inner wall of the steel pipe pile, thereby providing support for the adaptive pile cutting unit as a whole. The lower layer adaptive rotary cutting device comprises a rotary drive mechanism, which drives the cutter to perform rotary motion in the steel pipe pile during operation, thereby performing rotary cutting on the steel pipe pile; The vertical adaptive tool tensioning and relaxing device is arranged in the through hole in the center of the upper adaptive supporting device and the lower adaptive rotary cutting device. When running, it reciprocates up and down, driving the tool to move horizontally outward or inward to adjust the distance between the tool and the inner wall of the steel pipe pile to cut the steel pipe pile.

[0006] The self-adaptive automatic pile cutting system also includes a multi-point self-adaptive lifting unit and an automatic control unit.

[0007] An adaptive automatic pile cutting method for underwater pile foundation construction, which adopts the aforementioned adaptive automatic pile cutting system for underwater pile foundation construction, comprises the following steps: S1. Lower the adaptive pile cutting unit to the required cutting depth in the steel pipe pile, and obtain the initial angle required for cutting through overall posture control; S2, the multiple transverse telescopic support mechanisms provided on the upper adaptive support device are actuated, moved transversely and extended until their front ends contact the inner wall of the steel pipe pile, fix the angle required for cutting, and provide support for the adaptive pile cutting unit as a whole, thereby establishing a stable cutting plane; S3, the vertical adaptive tool tensioning device is activated and moves downward, so that the tool extends outward and adjusts the distance between the tool and the inner wall of the steel pipe pile until it reaches the cutting position; S4. The lower adaptive rotary cutting device is activated to drive the cutter to rotate and cut the inner wall of the steel pipe pile. During the cutting process, the vertical adaptive cutter tensioning device continues to move downward, gradually increasing the length of the cutter extending outward until the cutter completely cuts off the thickness of the steel pipe pile on the cutting plane.

[0008] The advantages or principles of the present invention are described below: 1. The present invention provides an adaptive automatic pile cutting system and an automatic pile cutting method for underwater pile foundation construction. The key point is to improve the adaptability of the system from multiple aspects by greatly simplifying the structure of the pile cutting system and the pile cutting process and improving the matching degree between the equipment and the process through various structural improvements; by simplifying the structure of the adaptive pile cutting unit and reducing the dead weight of the adaptive pile cutting unit, the system is easier to control, and can be adapted to different pile bodies, pile types, slopes, different operation depths, and cutting angles of piles, so as to meet the operation requirements of straight piles and inclined piles, different types of pile bodies, and different cutting tools at the same time, and can realize the cutting of the pile body at any angle (for example, non-horizontal) section, and improve the efficiency, quality and safety of underwater pile cutting operation, improve the overall waterproof performance, enhance the protection of the pile cutting system itself, and reduce the construction cost, so as to solve the various problems in the above-mentioned prior art.

[0009] 2. The adaptive automatic pile cutting system and pile cutting method for underwater pile foundation construction provided by the present invention improve the adaptive pile cutting unit for underwater pile foundation construction, and transport the adaptive pile cutting unit for underwater pile foundation construction to the inside of the steel pipe pile through multiple external cranes and multiple steel wire ropes, and first adjust the depth and angle before cutting; through the set sensors, steel wire rope positioning, etc., auxiliary measurement can be achieved during the sinking process of the adaptive pile cutting unit; the external crane coordinates to control the sinking speed and angle (posture) of the adaptive pile cutting unit to ensure smooth operation, and obtain the best angle and working plane for cutting operation, improve cutting efficiency and cutting quality, and especially can solve the pile cutting problem of inclined piles and deformed piles.

[0010] 3. The adaptive automatic pile cutting system and pile cutting method for underwater pile foundation construction provided by the present invention, the adaptive pile cutting unit is provided with more than four adaptive transverse telescopic support mechanisms, each of which is designed to be pushed outward and fixed to contact with the inner wall of the steel pipe pile by pre-tightening force to form a stable support platform; its supporting oil cylinder, supporting ball head connecting rod, and supporting arc panel cooperate with each other, so that it can adapt to different pile bodies, pile types (round piles, square piles), slopes (inclined piles), different operating depths, and angles of pile cutting, and can realize the cutting of the pile body at any angle (non-horizontal) section, and improve the efficiency, quality and safety of underwater pile cutting operations.

[0011] 4. The adaptive automatic pile cutting system and pile cutting method for underwater pile foundation construction provided by the present invention have an adaptive tool tensioning and relaxing device in the adaptive pile cutting unit, which can adapt to different tools, including water jets, plasma arcs, saw blade cutting tools, etc., so as to simultaneously meet the operational requirements of straight piles and inclined piles, different types of pile bodies, and different cutting tools. It can realize the cutting of pile bodies at any angle (non-horizontal) section, and improve the efficiency, quality and safety of underwater pile cutting operations.

[0012] 5. The adaptive automatic pile cutting system and pile cutting method for underwater pile foundation construction provided by the present invention have an upper adaptive support device, a lower adaptive rotary cutting device, and a vertical adaptive tool tensioning device that are three-dimensionally staggered, with a reasonable spatial layout, a compact structure, a small transmission distance, and a high transmission efficiency.

[0013] 6. The adaptive automatic pile cutting system and pile cutting method for underwater pile foundation construction provided by the present invention have various components of the adaptive pile cutting unit that are waterproof components, so the overall waterproof performance is good; when the steel pipe pile is cut and the components are immersed in water, they are not easily damaged; when the cutting tool is set as a saw blade cutting tool, the torque of the blade is monitored in real time by setting torque monitoring, and abnormal situations such as blade jumping are handled.

[0014] 7. The adaptive automatic pile cutting system and pile cutting method for underwater pile foundation construction provided by the present invention make full use of the relatively stable internal environment of the steel pipe pile, can be normally constructed in harsh environments, and do not require manual underwater operations; in addition, by utilizing the waterless environment inside the steel pipe pile, when cutting from the inside of the steel pipe pile, it is also possible to reduce the adverse effects of seawater buoyancy and seawater flow on the efficiency and accuracy of the pile cutting operation.

[0015] 8. The adaptive automatic pile cutting system and pile cutting method for underwater pile foundation construction provided by the present invention do not require personnel to go into the water, which solves the problem of long pipe piles in deep water areas affecting the safety of ship navigation; the cut pipe piles are safely lifted off and can be recycled and reused; by introducing automatic control, modular design and new cutting tools and process technologies (such as water jets, plasma arcs, lasers, etc.), the efficiency and safety of pile cutting can be significantly improved.

[0016] 9. The adaptive automatic pile cutting system and pile cutting method for underwater pile foundation construction provided by the present invention, during the cutting process, applies a preload force to the wire rope through an external crane to ensure that the adaptive pile cutting unit and the steel pipe pile remain in a relatively fixed state during the cutting process, avoiding damage to the cutting tool caused by the falling of the steel pipe pile at the moment of cutting, thereby further improving the safety and service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 1. is a schematic diagram of the main structure of the working state of the adaptive automatic pile cutting system for underwater pile foundation construction according to an embodiment of the present invention; Figure 2 1 is a schematic diagram of a top view of the structure of a self-adaptive automatic pile cutting system for underwater pile foundation construction according to an embodiment of the present invention in a working state; Figure 3 is a schematic diagram of the overall three-dimensional appearance structure of the adaptive pile cutting unit according to an embodiment of the present invention from a first viewing angle; Figure 4 is a schematic diagram of the overall three-dimensional appearance structure of the adaptive pile cutting unit according to an embodiment of the present invention at a second viewing angle; Figure 5 2 is a schematic diagram of the main structure of the adaptive pile cutting unit according to an embodiment of the present invention; Figure 6 1 is a left-side structural schematic diagram of an adaptive pile cutting unit according to an embodiment of the present invention; Figure 7 1 is a bottom view structural diagram of an adaptive pile cutting unit according to an embodiment of the present invention; Figure 8 It is a schematic diagram of the assembly structure of the adaptive pile cutting unit according to an embodiment of the present invention.

[0018] In the figure: 1. Upper adaptive support device; 10. Lateral telescopic support mechanism; 101. Support cylinder; 102. Support ball connecting rod; 103. Support arc panel; 11. Upper base plate; 111. Upper through hole; 12. Upper support frame; 2. Lower layer adaptive rotary cutting device; 21. Lower base plate; 211. Lower through hole; 212. Driving convex ring; 22. Rotary driving mechanism; 221. Ring housing; 222. Rotating part; 223. Driving part; 23. Guide bracket; 231. Guide through hole; 3. Vertical adaptive tool tensioning and relaxing device; 31. Driving motor; 311. Output shaft; 32. Driving screw; 33. Nut adjustment bracket; 331. Nut; 332. Support lug; 34. Tensioning and relaxing connecting rod; 35. Tool holder; 36. Tool holder guide seat; 4. Multi-point adaptive lifting unit; 41. Steel wire rope; 42. Crane; 5. Steel pipe piles. DETAILED DESCRIPTION

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

[0020] Example 1 See also Figures 1 to 8 The present invention provides an adaptive automatic pile cutting system for underwater pile foundation construction, which includes an adaptive pile cutting unit for performing adaptive pile cutting operations in a pile, a multi-point adaptive lifting unit for hoisting in and out the adaptive pile cutting unit and assisting in positioning and adjusting angles, and an automatic control unit for controlling the coordinated operation of the entire pile cutting system; The adaptive pile cutting unit comprises: an upper adaptive support device 1, a lower adaptive rotary cutting device 2, a vertical adaptive tool tensioning device 3, and a front-end electrical control module; The upper adaptive support device 1 is arranged directly above the lower adaptive rotary cutting device 2, and the vertical adaptive telescopic tensioning device is arranged at the center of the upper adaptive support device 1 and the lower adaptive rotary cutting device 2, and the centers of the three are on the same axis; The upper adaptive support device 1 includes a plurality of adaptive transverse telescopic support mechanisms 10. When the plurality of transverse telescopic support mechanisms 10 are in operation, they move laterally outward or inward to adjust the contact position and angle with the inner wall of the steel pipe pile, thereby providing support for the adaptive pile cutting unit as a whole. The lower adaptive rotary cutting device 2 comprises a rotary drive mechanism 22, which drives the cutter to perform rotary motion in the steel pipe pile during operation, thereby performing rotary cutting on the steel pipe pile; The vertical adaptive tool tensioning and relaxing device 3 is arranged in the through holes (upper through hole 111 and lower through hole 211) in the center of the upper adaptive supporting device 1 and the lower adaptive rotary cutting device 2. When in operation, it reciprocates up and down, driving the tool to move horizontally outward or inward to adjust the distance between the tool and the inner wall of the steel pipe pile, and cut the steel pipe pile 5.

[0021] The front-end electrical control module includes a plurality of actuators, controllers and sensors, which are arranged in the adaptive support device 1 and are electrically connected to the support cylinder 101, the rotary drive mechanism 22, the drive motor 31 and the PLC controller respectively.

[0022] In the front-end electrical control module, a multi-axis attitude sensor is also provided (specifically arranged in the upper adaptive support device 1), and an inertial measurement unit IMU is built in. The multi-axis attitude sensor and the inertial measurement unit IMU are electrically connected to the PLC controller to collect data such as the inclination angle and deformation degree of the inner wall of the steel pipe pile in real time, and feed the data back to the front-end electrical control module. The electrical control module dynamically adjusts the extension length and contact pressure of the transverse telescopic support mechanism 10 according to the sensor data to ensure that the supporting arc panel 103 fits tightly with the inner wall of the pile body of different shapes (such as ellipse, bevel, plane).

[0023] The automatic control unit includes a PLC controller and a host computer; the PLC controller is electrically connected to the front-end electrical control module and each crane 42 respectively; the PLC controller has built-in automatic control software.

[0024] The multi-point adaptive lifting unit 4 includes a plurality of cranes 42 and steel wire ropes 41, and each crane 42 is independently connected to a steel wire rope 41; the number of cranes and steel wire ropes in this embodiment is 4; the 4 steel wire ropes 41 are centrally symmetrical and are arranged at different positions of the upper adaptive supporting device 1. By adjusting the length of each set of steel wire ropes 41, the fixed position of the adaptive pile cutting unit as a whole is adjusted, and the angle of cutting the steel pipe pile is adjusted at the same time.

[0025] In this embodiment, the multi-point adaptive lifting unit 4 includes at least three or more steel wire ropes 41, and a corresponding number of cranes 42 that independently operate and control a lifting wire rope 41 to independently lift and lower. The lifting wire ropes 41 are symmetrically arranged at different positions of the upper support frame. By adjusting the length and preload of each steel wire rope 41, the reaching depth, posture and rotary cutting working plane of the cutting tool of the adaptive pile cutting unit 1 can be adjusted. By adjusting the length of each steel wire rope 41, the angle between the adaptive pile cutting unit in the pile and the inner wall of the steel pipe pile can be adjusted, thereby adjusting the angle of the rotary cutting plane (to cope with inclined piles and deformed piles); the cutting of the pile body at any angle (non-horizontal) section can be achieved without having to adjust the cutting surface to a horizontal plane and maintain it as in the prior art.

[0026] An adaptive automatic pile cutting method for underwater pile foundation construction, which adopts the adaptive automatic pile cutting system for underwater pile foundation construction, comprises the following steps: S1. Through the coordination of the multi-point adaptive lifting unit, the adaptive pile cutting unit is lowered to the required cutting depth in the steel pipe pile, and the overall posture is controlled to obtain the initial angle required for cutting; S2, the multiple transverse telescopic support mechanisms 10 arranged on the upper adaptive support device 1 are actuated, moved transversely and extended until their front ends contact the inner wall of the steel pipe pile, fix the angle required for cutting, and provide support for the adaptive pile cutting unit as a whole, thereby establishing a stable cutting plane; S3, the vertical adaptive tool tensioning device 3 is activated and moves downward, so that the tool extends outward and adjusts the distance between the tool and the inner wall of the steel pipe pile until it reaches the cutting position and maintains a stable pressure between the tool and the inner wall of the steel pipe pile; S4, the lower adaptive rotary cutting device 2 is actuated, driving the cutter to rotate and cut the inner wall of the steel pipe pile; during the cutting process, the vertical adaptive cutter tensioning device 3 continues to move downward, causing the length of the cutter extending outward to gradually increase, so that the cutter maintains a stable contact pressure with the inner wall of the steel pipe pile on the cutting plane until the thickness of the steel pipe pile is completely cut off.

[0027] The embodiment of the present invention uses an external crane in conjunction with a steel wire rope to transport the adaptive automatic pile cutting system for underwater pile foundation construction to the inside of a steel pipe pile for cutting. Accurate measurement can be achieved during the sinking process of the automatic cutting device through the provided position sensor, attitude sensor, and auxiliary positioning of the steel wire rope length. The sinking speed and angle synchronously controlled by multiple external cranes can ensure smooth operation and precise positioning.

[0028] This embodiment greatly simplifies the structure and process of the pile cutting system in the prior art and improves the matching degree between the equipment and the process, and improves its adaptability from multiple aspects; by simplifying the structure of the adaptive pile cutting unit, the weight of the adaptive pile cutting unit is reduced, so that it is easier to operate, and can be adapted to different pile bodies, pile types, slopes, different operating depths, and angles of pile cutting, and different knives can be used to cut the pile body at any angle (for example, non-horizontal) section, and the efficiency, quality and safety of underwater pile cutting operations are improved, the overall waterproof performance is improved, the protection of the pile cutting system itself is enhanced, and the construction cost is reduced.

[0029] Example 2 See also Figures 1 to 8 The adaptive automatic pile cutting system and the automatic pile cutting method for underwater pile foundation construction provided by the embodiment of the present invention are further optimized on the basis of the embodiment 1, focusing on improving the adaptive ability of the adaptive support device, so that it can adapt to different pile types, pile bodies, different bevel angles and different cutting sections, especially can adapt to oblique piles and deformed piles. The difference is that: The adaptive support device 1 of the adaptive pile cutting unit comprises: an upper base plate 11, an upper support frame 12, and a plurality of transverse telescopic support mechanisms 10; The upper substrate 11 is a regular polygonal panel with a circular upper through hole 111 inside; The upper support frame 12 is a cylindrical regular polygonal vertical plate, which is arranged on the upper surface of the upper substrate 11, and its diameter is larger than the diameter of the circular upper through hole 111 but smaller than the diameter of the upper substrate 11. It is concentric with the upper substrate 11 and the upper through hole 111, and each side is parallel to the corresponding side on the upper substrate 11; The plurality of transverse telescopic support mechanisms 10 respectively pass through the thickness of the upper support frame 12 in the horizontal direction and are centrally symmetrically arranged on the upper support frame 12; Each transverse telescopic support mechanism 10 includes: a support cylinder 101, a support ball head connecting rod 102, and a support arc panel 103 connected in sequence. When the support cylinder 101 is extended and retracted in the horizontal direction, it drives the support ball head connecting rod 102 and the support arc panel 103 to move forward and backward in the horizontal direction, adaptively adjusting the length of the horizontal extension until it reaches the inner wall of the steel pipe pile and maintains the set surface contact pressure. Among them, a spherical groove is provided on the side surface of the support arc panel 103 facing the support ball head connecting rod 102, and the ball head is inserted into the groove to form a universal shaft structure. Such a design can not only support the inner wall of a traditional circular steel pipe pile, but also obtain stable support on a rectangular steel pipe pile and a deformed steel pipe pile, and can support the cutting of inclined piles (beveled surface). It is applicable to many scenarios, can better meet the actual project construction needs, and reduces the requirements for working conditions and positioning accuracy.

[0030] The steps S1 and S2 specifically further include the following steps: S1-1, pre-setting the tool on the front section of the tool holder 35 of the vertical adaptive tool tensioning device 3; S1-2, the PLC controller controls each crane 42 and the wire rope 41 in the multi-point adaptive lifting unit 4, lowers the adaptive pile cutting unit to the required cutting depth in the steel pipe pile 5, and obtains the initial angle required for cutting through overall posture control.

[0031] S2-1. In the initial angle state, the PLC controller fine-tunes the specific contact positions and angles between the multiple transverse telescopic support mechanisms 10 and the inner wall of the steel pipe pile (5) by controlling the lengths of the various cranes 42 and the steel wire ropes 41 according to the posture information collected by the sensor, and adjusting the extension lengths and action sequences of the various transverse telescopic support mechanisms 10. When all the transverse telescopic support mechanisms 10 are in reliable contact with the inner wall of the steel pipe pile 5 (maintaining a constant contact pressure), the final angle and stable cutting plane required for cutting are obtained, and stable support is provided for the adaptive pile cutting unit as a whole.

[0032] The adaptive pile cutting unit in this embodiment is provided with four centrosymmetrical adaptive transverse telescopic support mechanisms, each of which is designed to be independently pushed outward and fixedly contacted with the inner wall of the steel pipe pile by a pre-tightening force to form a stable support platform; its supporting oil cylinder, supporting ball head connecting rod, and supporting arc panel cooperate with each other and can adapt to different pile bodies, pile types (round piles, square piles), slopes (oblique piles), different operating depths, and angles of pile cutting, and can realize the cutting of the pile body at any angle (non-horizontal) section, and improve the efficiency, quality and safety of underwater pile cutting operations.

[0033] Example 3 See also Figures 1 to 8 The adaptive automatic pile cutting system and automatic pile cutting method for underwater pile foundation construction provided in the embodiments of the present invention are further optimized on the basis of the above-mentioned embodiments 1 and 2, and the difference lies in that: The lower adaptive rotary drive device 2 comprises: a lower base plate 21 of a rotary drive mechanism 22 and a guide bracket 23; The rotary drive mechanism 22 is disc-shaped as a whole, and includes a non-rotating annular shell 221, a rotating part 222, and a driving part 223 arranged on one side of the annular shell 221; The rotary drive mechanism 22 in this embodiment is a worm gear rotary drive, such as the Bosch Rexroth GFW series product, which is fully sealed and waterproof, and has a radial load of 8 kN and an axial load of 12 kN in the output shaft load capacity, supporting the rotational reaction force of various cutting tools (saw blades / plasma arcs). In other embodiments, other horizontal rotary drive products with reverse self-locking function can also be selected.

[0034] The lower base plate 21 is a regular polygonal flat plate (metal plate) with a circular lower through hole 211 inside, and an upwardly protruding driving convex ring 212 is provided around the edge of the circular lower through hole 211; The non-rotating annular shell 221 of the rotary drive mechanism 22 is arranged on the bottom surface of the upper base plate 11, and the two are cocentric and both are fixed parts; the rotating part 222 of the rotary drive mechanism is buckled on the driving convex ring 212 (connected by threads or interference fit, keyway fit, etc.). When the rotary drive mechanism 22 is running, its rotating part 222 drives the driving convex ring 212 to rotate, thereby driving the lower base plate 21 to make a rotary motion, and then driving the tool to rotate.

[0035] The guide bracket 23 is a strip-shaped, upwardly protruding inverted trapezoidal support plate, the lower end of which is arranged on the edge of the lower through hole 211 of the lower base plate 21, protruding upward and extending into the upper through hole 111; a guide through hole 231 is arranged on the horizontal section of the upper part thereof, and the guide through hole 231 is concentric with the upper through hole 111 and the lower through hole 211. The guide bracket 23 is used to connect and fix the drive motor 31 and the drive screw 32 in the vertical adaptive tool tensioning and relaxing device; the coupling (outwardly protruding section) between the output shaft of the drive motor 31 and the drive screw 32 is arranged in the guide through hole 231, and the drive motor 31 and the drive screw 32 are vertically positioned in the upper through hole 111 and the lower through hole 211, with the drive motor 31 on the upper side and the drive screw 32 on the lower side, and the lower section of the drive screw 32 is connected to the nut adjustment bracket 33, and the tool tensioning and relaxing are driven together, which effectively utilizes the internal space and greatly simplifies the overall structure of the adaptive cutting pile unit.

[0036] In this embodiment, the upper adaptive support device, the lower adaptive rotary cutting device, and the vertical adaptive tool tensioning device of the adaptive pile cutting unit are three-dimensionally staggered, with reasonable spatial layout, compact structure, small transmission distance and high transmission efficiency.

[0037] Example 4 See also Figures 1 to 8 The adaptive automatic pile cutting system and automatic pile cutting method for underwater pile foundation construction provided in the embodiments of the present invention are further optimized on the basis of the above-mentioned embodiments 1 to 3, and the difference lies in that: The vertical adaptive tool tensioning and relaxing device 3 comprises: a driving motor 31, a driving screw 32, a nut adjustment bracket 33, a tensioning and relaxing connecting rod 34, a tool holder 35, and a tool holder guide seat 36; The driving motor 31 is vertically arranged in the upper through hole 111, and the front end of the output shaft 311 is connected to the driving screw 32; the driving screw 32 passes through the upper through hole 111 and the guide through hole 231 in sequence and then extends into the lower through hole 211, and the front end of the driving screw 32 is threadedly connected with the nut adjustment bracket 33; a coupling is arranged between the output shaft 311 and the driving screw 32, and the coupling is arranged in the guide through hole 231 of the guide bracket 23 to fix the two; The output shaft 311, the driving screw rod 32, the upper through hole 111, the guide through hole 231, and the lower through hole 211 are all co-centered, and their axis lines are on the same straight line; The tool holder guide seat 36 is centrally symmetrically arranged on the lower end surface of the lower base plate 21, and is provided with a guide cylinder 361. The tool holder 35 is arranged in the guide cylinder 361 and can move forward and backward along its axis, driving the tool to move forward and backward. The nut adjustment bracket 33 is provided with a nut 331 in the middle, and a plurality of lugs 332 are provided on the outer wall of the nut 331; the front section of the driving screw 32 is inserted into the nut 331, so that the two are threadedly connected; when the driving screw 32 rotates forward or reversely, the driving nut 331 reciprocates up and down; the driving nut 331 then drives the tool holder 35 to perform horizontal forward and backward tension and relaxation movements through the lugs 332, the tension and relaxation connecting rod 34, and the guide cylinder 361; One end of the tension and relaxation link 34 is connected to the ear 332 of the nut adjustment bracket 33, and the other end is connected to the tool holder 35, both of which are axially connected; the front section of the tool holder 35 is provided with a tool interface for connecting different tools; The driving motor 31 can be a hydraulic motor, a stepping motor or a servo motor.

[0038] The steps S3 and S4 specifically further include the following steps: S3-1, the PLC controller controls the vertical adaptive tool tensioning device 3 to move downward, so that the tool extends outward and adjusts the distance between the tool and the inner wall of the steel pipe pile 5 until it reaches the cutting position; S3-2, then control each crane 42 in the multi-point adaptive lifting unit 4 to tighten the steel wire rope 41, and apply a pre-tightening force of 1.3-2 times its own weight to the adaptive pile cutting unit as a whole, so as to prevent the cut upper steel pipe pile 5 from falling down at the moment when the steel pipe pile (5) is cut, thereby damaging the components of the adaptive pile cutting unit.

[0039] S4-1, the lower adaptive rotary cutting device 2 is actuated to drive the cutter to rotate and cut the inner wall of the steel pipe pile 5; during the cutting process, the vertical adaptive cutter tensioning device 3 continues to move downward, so that the length of the cutter extending outward gradually increases, until the cutter is on the cutting plane, gradually cutting off the thickness of the steel pipe pile 5; S4-2, when the PLC controller determines that the steel pipe pile 5 has been cut according to the signal from the sensor, it controls the vertical adaptive tool tensioning device 3 to move upward, so that the length of the tool extending outward gradually decreases until it retracts to the initial position, and then controls all the lateral telescopic support mechanisms 10 to retract to the initial position, and then hoists the adaptive pile cutting unit as a whole above the water surface.

[0040] In order to better control and ensure the safe and smooth progress of the cutting operation, a vibration sensor can also be set on the tool holder 35, and the vibration sensor is electrically connected to the PLC controller or the front-end electrical control module to monitor the vibration spectrum generated during the cutting operation in real time; step S4 also includes: when the vibration sensor detects abnormal vibration of a specific frequency (such as 200-500Hz high-frequency vibration), it is determined that the contact between the tool and the pile wall is poor or the tool is stuck, and the PLC controller starts the built-in compensation algorithm of the existing technology, and simultaneously reduces the rotation speed of the rotary cutting device 2 by 5%-10%, and increases the feed speed compensation amount of the vertical tool tensioning device 3 (compensation coefficient K=1.2-1.5), forcing the tool to maintain a constant contact pressure with the pile wall; if the vibration continues for more than 3 seconds after compensation, the emergency retreat procedure is triggered: the tool retracts 10mm, and the rotary cutting device 2 rotates 15° in the opposite direction, so that the tool re-cuts and continues to cut the pile until the steel pipe pile is completely cut off.

[0041] In this embodiment, in order to better control and ensure the safe and smooth progress of the cutting operation, step S4 may also include the steps of monitoring the cross-section quality during the cutting process and supplementing the cutting: An ultrasonic flaw detector is arranged on the lower adaptive rotary cutting device 2, and the ultrasonic flaw detector is electrically connected to the PLC controller; the ultrasonic flaw detector is preferably an Olympus EPOCH 650, and the ultrasonic flaw detector is used to scan the cut section to detect the uncut area (residual thickness>3mm is unqualified); if an unqualified area is detected, the PLC controller marks the defect position (angle θ), controls the rotary cutting device (2) to rotate to the range of θ±5°, and repeats steps S3-S4 to perform local supplementary cutting; after the supplementary cutting is completed, the ultrasonic scanning is started again until the section meets the standard.

[0042] The adaptive automatic pile cutting system and pile cutting method for underwater pile foundation construction provided by the above-mentioned embodiments of the present invention design the adaptive support device to include multiple horizontal telescopic support mechanisms, each of which is independently extended to form a stable support platform within a certain inclination angle; a circular lower base plate and a cutting tool detachably connected thereto are provided, and the adaptation relationship is good, and the cutting tool can be selected from a plasma tool or a saw blade tool, etc.; when a saw blade tool is selected, four circular blades can be equipped for uniform and rotating cutting; the PLC controller can automatically control the rotation speed and outward extension length of each blade, the cutting contact pressure, etc., to ensure cutting efficiency and quality; when the tool is set to a saw blade, the torque of the blade can be monitored in real time by setting torque monitoring, so as to promptly deal with abnormal situations such as blade jumping.

[0043] The present invention provides an adaptive automatic pile cutting system and pile cutting method for underwater pile foundation construction. During the cutting process, an appropriate pre-tightening force is applied to the steel wire rope by an external crane to ensure that the adaptive pile cutting unit and the steel pipe pile remain in a relatively fixed state during the cutting process, and avoid damage to the cutting tool caused by the sinking of the steel pipe pile at the moment of cutting, thereby further improving the safety and service life of the equipment; the cut steel pipe pile can be recycled and reused after being safely lifted out of the water.

[0044] 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 adaptive automatic pile cutting system for underwater pile foundation construction, characterized in that: It comprises an adaptive pile cutting unit for adaptively cutting piles in piles, the unit comprising: an upper adaptive support device (1), a lower adaptive rotary cutting device (2), and a vertical adaptive cutter tensioning device (3); The upper adaptive support device (1) is arranged directly above the lower adaptive rotary cutting device (2), and the vertical adaptive telescopic tensioning device is arranged at the center of the upper adaptive support device (1) and the lower adaptive rotary cutting device (2), and the centers of the three are on the same axis; The upper adaptive support device (1) comprises a plurality of adaptive transverse telescopic support mechanisms (10). During operation, the plurality of transverse telescopic support mechanisms (10) move laterally outward or inward to adjust the contact position and angle with the inner wall of the steel pipe pile (5), thereby providing support for the adaptive pile cutting unit as a whole. The lower layer adaptive rotary cutting device (2) comprises a rotary drive mechanism (22) which drives the cutter to perform rotary motion in the steel pipe pile (5) during operation, thereby performing rotary cutting on the steel pipe pile (5); The vertical adaptive tool tensioning and relaxing device (3) is arranged in the through hole in the center of the upper adaptive support device (1) and the lower adaptive rotary cutting device (2), and reciprocates up and down during operation, driving the tool to move outward or inward horizontally to adjust the distance between the tool and the inner wall of the steel pipe pile (5) and cut the steel pipe pile (5).

2. The adaptive automatic pile cutting system for underwater pile foundation construction according to claim 1 is characterized in that: The adaptive support device (1) comprises: an upper base plate (11), an upper support frame (12), and a plurality of transverse telescopic support mechanisms (10); The upper substrate (11) is a regular polygonal panel with a circular upper through hole (111) provided inside; The upper support frame (12) is a cylindrical regular polygonal vertical plate, which is arranged on the upper surface of the upper substrate (11), and has a diameter greater than the diameter of the circular upper through hole (111) but smaller than the diameter of the upper substrate (11). It is concentric with the upper substrate (11) and the upper through hole (111), and each side is parallel to the corresponding side on the upper substrate (11); The plurality of transverse telescopic support mechanisms (10) respectively pass through the thickness of the upper support frame (12) in the horizontal direction and are centrally symmetrically arranged on the upper support frame (12); Each transverse telescopic support mechanism (10) comprises: a support oil cylinder (101), a support ball head connecting rod (102), and a support arc panel (103) which are connected in sequence. When the support oil cylinder (101) is extended and retracted in the horizontal direction, the support ball head connecting rod (102) and the support arc panel (103) are driven to move forward and backward in the horizontal direction, and the length of the horizontal extension is adaptively adjusted until the length reaches the inner wall of the steel pipe pile (5).

3. The self-adaptive automatic pile cutting system for underwater pile foundation construction according to claim 2, characterized in that: The lower adaptive rotary drive device (2) comprises: a rotary drive mechanism (22), a lower base plate (21), and a guide bracket (23); The rotary drive mechanism (22) is disc-shaped as a whole, and comprises a non-rotating annular shell (221), a rotating part (222), and a driving part (223) arranged on one side of the annular shell (221); The lower base plate (21) is a regular polygonal flat plate with a circular lower through hole (211) provided inside, and an upwardly protruding driving convex ring (212) is provided around the edge of the circular lower through hole (211); The non-rotating annular housing (221) of the rotary drive mechanism (22) is arranged on the bottom surface of the upper base plate (11), and the two are co-centered; the rotating portion (222) is engaged with the driving convex ring (212) (connected by threads, interference fit, keyway fit, etc.), and when the rotary drive mechanism (22) is in operation, the rotating portion (222) drives the driving convex ring (212) to rotate, thereby driving the lower base plate (21) to perform a rotary motion; The guide bracket (23) is a strip-shaped, upwardly protruding inverted trapezoidal support plate, the lower end of which is arranged on the edge of the lower through hole (211) of the lower base plate (21), protruding upward and extending into the upper through hole (111); a guide through hole (231) is provided on the upper horizontal section, and the guide through hole (231) is concentric with the upper through hole (111) and the lower through hole (211).

4. The self-adaptive automatic pile cutting system for underwater pile foundation construction according to claim 3, characterized in that: The vertical adaptive tool tensioning and relaxing device (3) comprises: a driving motor (31), a driving screw (32), a nut adjustment bracket (33), a tensioning and relaxing connecting rod (34), a tool holder (35), and a tool holder guide seat (36); The driving motor (31) is vertically arranged in the upper through hole (111), and the front end of the output shaft (311) is connected to the driving screw (32); the driving screw (32) passes through the upper through hole (111) and the guide through hole (231) in sequence and then extends into the lower through hole (211), and the front end of the driving screw is threadedly connected to the nut adjustment bracket (33); The output shaft (311), the driving screw rod (32), the upper through hole (111), the guide through hole (231) and the lower through hole (211) are all co-centered. The tool holder guide seat (36) is centrally symmetrically arranged on the lower end surface of the lower base plate (21), and is provided with a guide cylinder (361). The tool holder is arranged in the guide cylinder (361) and can move forward and backward along its axis. The nut adjustment bracket (33) is provided with a nut (331) in the middle, and a plurality of supporting ears (332) are provided on the outer side wall of the nut (331); One end of the tension-relaxation connecting rod (34) is connected to the support ear (332) of the nut adjustment bracket (33), and the other end is connected to the tool holder (35).

5. The adaptive automatic pile cutting system for underwater pile foundation construction according to claim 4 is characterized in that: The adaptive pile cutting unit further comprises a front-end electrical control module, which comprises a plurality of actuators, a controller and a sensor, is arranged in the adaptive support device (1) and is electrically connected to the support cylinder (101), the rotary drive mechanism (22) and the drive motor (31) respectively.

6. The adaptive automatic pile cutting system for underwater pile foundation construction according to any one of claims 1 to 5, characterized in that: The adaptive automatic pile cutting system further comprises a multi-point adaptive lifting unit (4); The multi-point adaptive lifting unit (4) comprises a plurality of cranes (42) and steel wire ropes (41), and each crane (42) is independently connected to a steel wire rope (41); The plurality of steel wire ropes (41) are centrally symmetrical and are arranged at different positions of the upper adaptive support device (1). By adjusting the length of each set of steel wire ropes (41), the fixed position of the adaptive pile cutting unit as a whole is adjusted, and the angle of cutting the steel pipe pile (5) is adjusted at the same time.

7. The self-adaptive automatic pile cutting system for underwater pile foundation construction according to claim 6, characterized in that: The self-adaptive automatic pile cutting system further comprises an automatic control unit, which comprises: a PLC controller and a host computer; The PLC controller is electrically connected to the front-end electrical control module and the crane (42) respectively.

8. An adaptive automatic pile cutting method for underwater pile foundation construction, characterized in that: The adaptive automatic pile cutting system for underwater pile foundation construction according to any one of claims 1 to 7 comprises the following steps: S1, lowering the adaptive pile cutting unit to a desired cutting depth in the steel pipe pile (5), and obtaining a preliminary angle required for cutting through overall posture control; S2, the plurality of transverse telescopic support mechanisms (10) provided on the upper adaptive support device (1) are actuated, moved transversely and extended until their front ends contact the inner wall of the steel pipe pile (5), thereby fixing the angle required for cutting and providing support for the adaptive pile cutting unit as a whole, thereby establishing a stable cutting plane; S3, the vertical adaptive tool tensioning device (3) is activated and moves downward, so that the tool extends outward and adjusts the distance between the tool and the inner wall of the steel pipe pile (5) until the cutting position is reached; S4, the lower adaptive rotary cutting device (2) is activated, driving the cutter to rotate and cut the inner wall of the steel pipe pile (5); during the cutting process, the vertical adaptive cutter tensioning device (3) continues to move downward, causing the length of the cutter extending outward to gradually increase, until the cutter completely cuts through the thickness of the steel pipe pile (5) on the cutting plane.

9. The self-adaptive automatic pile cutting method for underwater pile foundation construction according to claim 8, characterized in that: The step S1 specifically further comprises the following steps: S1-1, pre-arranging a tool on the front section of a tool holder (35) of a vertical adaptive tool tensioning device (3); S1-2, the PLC controller controls each crane (42) and the steel wire rope 41 in the multi-point adaptive lifting unit (4) respectively, lowers the adaptive pile cutting unit to the required cutting depth in the steel pipe pile (5), and obtains the initial angle required for cutting through overall posture control.

10. The self-adaptive automatic pile cutting method for underwater pile foundation construction according to claim 8, characterized in that: The step S2 specifically further comprises the following steps: S2-1. In the initial angle state, the PLC controller controls the length of each crane (42) and the steel wire rope (41) according to the posture information collected by the sensor, and adjusts the extension length and action sequence of each transverse telescopic support mechanism (10) to fine-tune the specific contact position and angle between the multiple transverse telescopic support mechanisms (10) and the inner wall of the steel pipe pile (5). When all the transverse telescopic support mechanisms (10) are in reliable contact with the inner wall of the steel pipe pile (5), the final angle and stable cutting plane required for cutting are obtained, and stable support is provided for the adaptive pile cutting unit as a whole.

11. The self-adaptive automatic pile cutting method for underwater pile foundation construction according to claim 8, characterized in that: The step S3 specifically further comprises the following steps: S3-1, the PLC controller controls the vertical adaptive tool tensioning device (3) to move downward, so that the tool extends outward and adjusts the distance between the tool and the inner wall of the steel pipe pile (5) until the cutting position is reached; S3-2, then controlling each crane (42) in the multi-point adaptive lifting unit (4) to tighten the steel wire rope (41), applying a pre-tightening force of 1.3-2 times its own weight to the adaptive pile cutting unit as a whole, to prevent the cut upper steel pipe pile (5) from falling down at the moment the steel pipe pile (5) is cut, thereby damaging the components of the adaptive pile cutting unit.

12. The self-adaptive automatic pile cutting method for underwater pile foundation construction according to claim 8, characterized in that: The step S4 specifically further comprises the following steps: S4-1, the lower adaptive rotary cutting device (2) is actuated to drive the cutter to rotate and cut the inner wall of the steel pipe pile (5); during the cutting process, the vertical adaptive cutter tensioning device (3) continues to move downward, causing the length of the cutter extending outward to gradually increase, until the cutter is on the cutting plane, gradually cutting off the thickness of the steel pipe pile (5); S4-2, when the PLC controller determines that the steel pipe pile (5) has been cut according to the signal from the sensor, it controls the vertical adaptive cutter tensioning device (3) to move upward, so that the length of the cutter extending outward gradually decreases until it is retracted to the initial position, and then controls all the lateral telescopic support mechanisms (10) to retract to the initial position, and then hoists the adaptive pile cutting unit as a whole above the water surface.

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