Pile replacing system of cutter suction dredger and pile replacing method thereof

Abstract

The invention discloses a pile replacing system and method for a cutter suction dredger, and the pile replacing system comprises a control device, a lifting clamp pressure collection module, a lifting module, a supporting clamp pressure collection module, a clamping module, a power collection module, and a power module. The control device is connected with the lifting clamp pressure collecting module, the supporting clamp pressure collecting module and the power collecting module and further connected with the lifting module, the clamping module and the power module, the lifting clamp pressure collecting module is connected with the lifting module, and the supporting clamp pressure collecting module is connected with the clamping module. The power collecting module is connected with the power module, and the power module is connected with the lifting module and the clamping module. The control module receives data information collected by the lifting clamp pressure collecting module, the supporting clamp pressure collecting module and the power collecting module and sends out a control instruction according to the data information so as to control the lifting module, the clamping module and the power module to complete replacement of the main pile. The defect that the pile replacing efficiency is low is overcome.

Description

Technical Field

[0001] The present invention relates to the technical field of dredging engineering, and in particular to a pile replacement system and a pile replacement method of a cutter suction dredger. Background Art

[0002] A cutter suction dredger is an engineering vessel equipped with a cutter, a mud pump, a traversing winch, a bridge winch, an anchor winch, an anchor rod slewing winch, a steel pile trolley, a dredging pipeline, a dredging gate valve, a water sealing pipeline, a water sealing pump, a gate valve flushing pump, a hydraulic pump and other special devices. During the left and right traversal of the bridge, the rock and sediment are crushed by the rotation of the cutter, and the mud pump transports the formed mud to the filling area through the dredging pipeline. During the cutter suction dredger construction process, it moves from the left line to the right line, and the main pile trolley steps forward to move the entire ship forward. The dredging area where the cutter is located moves forward and then moves to the left, or after lowering the bridge to reach the next layer of excavation depth, it moves to the left again, and the cycle repeats. When the main pile trolley stroke reaches the maximum in the lowest dredging layer, it is necessary to change piles and restore the main pile trolley stroke to the minimum.

[0003] Steel piles are one of the important core equipment on cutter suction draught vessels. They are long and heavy, and the control safety requirements are extremely high. The traditional pile changing process usually requires the operator to perform related operations such as lifting and lowering the auxiliary piles, lifting and lowering the main piles, retracting the trolley, and judging the height of the steel piles based on his own construction experience. There are many control devices, the operation is complicated, and the uneven technical level of the operators not only leads to huge differences in the efficiency and safety of the pile changing process, but also poses certain safety risks to the pile changing process. At the same time, although most ships are equipped with one-button dredging, unmanned dredging has been initially achieved, but manual operation is still required in the pile changing process, which also increases labor costs. Summary of the Invention

[0004] The purpose of the present invention is to overcome the disadvantage of low pile changing efficiency in the prior art and to provide a pile changing system and pile changing method for a cutter suction dredger.

[0005] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0006] A pile replacement system for a cutter suction dredger includes a control device, a lifting fixture device, a supporting fixture device and a power device.

[0007] The lifting fixture device includes a lifting fixture pressure acquisition module and a lifting module.

[0008] The supporting fixture device includes a supporting fixture pressure acquisition module and a clamping module.

[0009] The power device includes a power collection module and a power module.

[0010] The control device is connected to the lifting fixture pressure acquisition module, the supporting fixture pressure acquisition module and the power acquisition module, and is also connected to the lifting module, the clamping module and the power module.

[0011] The lifting fixture pressure acquisition module is connected to the lifting module, the supporting fixture pressure acquisition module is connected to the clamping module, the power acquisition module is connected to the power module, and the power module is connected to the lifting module and the clamping module.

[0012] The control module receives the data information collected by the lifting clamp pressure collection module, the supporting clamp pressure collection module and the power collection module and issues control instructions to the lifting module, the clamping module and the power module according to the data information to control the lifting module, the clamping module and the power module to complete the replacement of the main pile.

[0013] Preferably, the control device includes a first control module, a second control module, a third control module and a fourth control module, wherein the first control module is connected to the second to fourth control modules, and the first control module is also connected to the lifting fixture pressure acquisition module, the supporting fixture pressure acquisition module and the power acquisition module.

[0014] The second control module is also connected to the lifting module.

[0015] The third control module is also connected to the clamping module.

[0016] The fourth control module is also connected to the power module.

[0017] Preferably, it also includes a trolley device, which includes a trolley stroke acquisition module and a travel module. The control device also includes a fifth control module, which is respectively connected to the travel module and the first control module. The trolley stroke acquisition module is connected to the travel module, and the power module is connected to the travel module.

[0018] Preferably, it further comprises a height monitoring device, and the height monitoring device is connected to the first control module.

[0019] The pile changing method using the above-mentioned pile changing system of the cutter suction dredger comprises the following steps:

[0020] S1. Setting the first to seventh pressure thresholds, adjusting the power provided by the power module to reach the first pressure threshold;

[0021] S2. Use the lifting module and the clamping module to lower the auxiliary pile. When the lifting fixture pressure acquisition module collects the first pressure value when the lifting module lifts the auxiliary pile and the second pressure threshold is equal to the second pressure value when the lifting fixture pressure acquisition module collects the lifting module to lower the auxiliary pile is less than the third pressure threshold, the lowering of the auxiliary pile is completed;

[0022] S3 using the lifting module and the clamping module to lift the first main pile, the lifting clamp pressure acquisition module collects the lifting module to lift the first main pile when the third pressure value is equal to the fourth pressure threshold, complete the lifting of the first main pile;

[0023] S4. Use the lifting module and the clamping module to lower the second main pile, the lifting clamp pressure acquisition module collects the fourth pressure value when the lifting module lifts the second main pile and the lifting clamp pressure acquisition module collects the fifth pressure value when the lifting module lowers the second main pile and the sixth pressure threshold is equal, complete the lowering of the second main pile;

[0024] S5. Use the lifting module and the clamping module to lift the auxiliary pile. When the sixth pressure value collected by the lifting fixture pressure collection module when the lifting module lifts the auxiliary pile is equal to the seventh pressure threshold, the lifting of the auxiliary pile is completed.

[0025] Preferably, in step S1, an eighth pressure threshold, a first stroke threshold and a second stroke threshold are also set.

[0026] In step S3, when the third pressure value collected by the lifting fixture pressure collection module when the lifting module lifts the first main pile is not equal to the fourth pressure threshold, adjustment is performed to make the third pressure value of the first main pile equal to the fourth pressure threshold, and the adjustment steps are as follows:

[0027] S31. When the stroke of the lifting module to lift the first main pile is greater than the first stroke threshold, the lifting module stops lifting, the clamping module clamps the first main pile, and the lifting module descends;

[0028] S32. When the descending stroke of the lifting module is less than the second stroke threshold, the lifting module rises, and the lifting clamp pressure acquisition module acquires a seventh pressure value when the first main pile is lifted. When the seventh pressure value is greater than the eighth pressure threshold, the clamping module stops clamping the first main pile, and the lifting module continues to lift the first main pile.

[0029] Preferably, in step S1, a ninth pressure threshold, a third stroke threshold and a fourth stroke threshold are also set.

[0030] In step S5, when the sixth pressure value collected by the lifting fixture pressure collection module when the lifting module lifts the auxiliary pile is not equal to the seventh pressure threshold, the sixth pressure value of the auxiliary pile is adjusted to be equal to the seventh pressure threshold, and the adjustment steps are as follows:

[0031] S51. When the stroke of the auxiliary pile lifted by the lifting module is greater than the third stroke threshold, the lifting module stops lifting, the clamping module clamps the auxiliary pile, and the lifting module descends;

[0032] S52. When the descending stroke of the lifting module is less than the fourth stroke threshold, the lifting module rises, and the lifting clamp pressure collection module collects an eighth pressure value when lifting the auxiliary pile. When the eighth pressure value is greater than the ninth pressure threshold, the clamping module stops clamping the auxiliary pile, and the lifting module continues to lift the auxiliary pile.

[0033] Preferably, the pile changing system also includes a trolley device, the trolley device includes a trolley stroke acquisition module and a travel module, the control device is connected to the trolley stroke acquisition module and the travel module, the trolley stroke acquisition module is connected to the travel module, and the power module is connected to the travel module. The pile changing method also includes S6. When the lifting of the first main pile in step S3 is completed, the travel module is used to complete the trolley retraction, and the retraction is ended when the first trolley stroke value collected by the trolley stroke acquisition module is less than the third stroke threshold. After the retraction is ended, step S4 is executed, and the third stroke threshold is set in step S1.

[0034] Preferably, the pile changing system further comprises a height monitoring device, which is connected to the control device. The pile changing method further comprises S7. detecting whether the power device, the trolley device and the height monitoring device are normal. If all are normal, executing steps S2 to S6.

[0035] Preferably, it also includes S8. When the second trolley stroke value collected by the trolley stroke collection module is less than a fourth stroke threshold, executing steps S2 to S7, and the fourth stroke threshold is set in step S1.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] The present invention establishes a pile-changing system including a lifting clamp pressure collection module, a lifting module, a supporting clamp pressure collection module, a clamping module, a power collection module, a power module and a control device, connects the control device with the lifting clamp pressure collection module, the supporting clamp pressure collection module and the power collection module, and also connects with the lifting module, the clamping module and the power module, and the lifting clamp pressure collection module is connected with the lifting module, the supporting clamp pressure collection module is connected with the clamping module, the power collection module is connected with the power module, the power module is connected with the lifting module and the clamping module, and the control module receives the lifting clamp pressure collection module, the supporting clamp pressure collection module and the power collection module. The control module collects data information from the lifting fixture pressure collection module, the supporting fixture pressure collection module and the power collection module, and issues control instructions to the lifting module, the clamping module and the power module based on the data information to control the lifting module, the clamping module and the power module to complete the replacement of the main pile. When there is a need to replace the pile, the control module collects data information from the lifting fixture pressure collection module, the supporting fixture pressure collection module and the power collection module, and issues control instructions to the lifting module, the clamping module and the power module based on the data information to complete the replacement of the main pile. During the entire pile replacement process, no manual operation is required, and the automation of pile replacement is realized, thereby effectively improving the efficiency of pile replacement and also improving the safety during the pile replacement process. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic diagram of a first embodiment of a pile replacement system for a cutter suction dredger disclosed in the present invention;

[0039] Figure 2 This is a schematic diagram of a second embodiment of a pile replacement system for a cutter suction dredger disclosed in the present invention;

[0040] Figure 3 This is a schematic diagram of a third embodiment of a pile replacement system for a cutter suction dredger disclosed in the present invention;

[0041] Figure 4 This is a schematic diagram of a fourth embodiment of a pile replacement system for a cutter suction dredger disclosed in the present invention;

[0042] Figure 5 This is a flow chart of an embodiment of a pile changing method using a cutter suction dredger pile changing system disclosed in the present invention;

[0043] FIG6 is a flow chart of another embodiment of a pile replacement method using a cutter suction dredger pile replacement system disclosed in the present invention.

[0044] Figure markings: 1-control device, 2-lifting clamp device, 3-support clamp device, 4-power device, 5-trolley device, 6-height monitoring device, 11-first control module, 12-second control module, 13-third control module, 14-fourth control module, 15-fifth control module, 21-lifting clamp pressure acquisition module, 22-lifting module, 31-support clamp pressure acquisition module, 32-clamping module, 41-power acquisition module, 42-power module, 51-trolley stroke acquisition module, 52-travel module. DETAILED DESCRIPTION

[0045] The present invention will be further described in detail below in conjunction with test examples and specific embodiments. However, this should not be understood as limiting the scope of the present invention to the following embodiments, and all technologies implemented based on the present invention fall within the scope of the present invention.

[0046] like Figure 1 As shown, this embodiment provides a pile-changing system for a cutter suction dredger, including a control device 1, a lifting clamp device 2, a supporting clamp device 3 and a power device 4. The lifting clamp device 2 includes a lifting clamp pressure acquisition module 21 and a lifting module 22, the supporting clamp device 3 includes a supporting clamp pressure acquisition module 31 and a clamping module 32, and the power device 4 includes a power acquisition module 41 and a power module 42. The control device 1 is connected to the lifting clamp pressure acquisition module 21, the supporting clamp pressure acquisition module 31 and the power acquisition module 41, and is also connected to the lifting module 22, the clamping module 32 and the power module 42. Then, the lifting clamp pressure acquisition module 21 is connected to the lifting module 22, the supporting clamp pressure acquisition module 31 is connected to the clamping module 32, the power acquisition module 41 is connected to the power module 42, and the power module 42 is connected to the lifting module 22 and the clamping module 32. The control module receives the data information collected by the lifting clamp pressure acquisition module 21, the supporting clamp pressure acquisition module 31 and the power acquisition module 41 and sends control instructions to the lifting module 22, the clamping module 32 and the power module 42 according to the data information to control the lifting module 22, the clamping module 32 and the power module 42 to complete the replacement of the main pile. The lifting module 22 is used to lift and lower the steel piles used in the process of replacing the main piles. The lifting fixture pressure collection module 21 is used to collect the pressure values of the steel piles used in the process of lifting and lowering the main piles. The clamping module 32 is used to clamp the lifting module 22 to lift and lower the steel piles used in the process of replacing the main piles. The support clamp pressure collection module 31 is used to collect the pressure values of the steel piles used in the process of clamping the lifting module 22 to lift and lower the main piles. The power module 42 is used to provide power to the lifting module 22 and the clamping module 32. The power collection module 41 is used to collect the power value provided by the power module 42 to the lifting module 22 and the clamping module 32.

[0047] In this embodiment, a pile changing system including a lifting clamp pressure acquisition module 21, a lifting module 22, a supporting clamp pressure acquisition module 31, a clamping module 32, a power acquisition module 41, a power module 42 and a control device 1 is established. The control device 1 is connected to the lifting clamp pressure acquisition module 21, the supporting clamp pressure acquisition module 31 and the power acquisition module 41, and is also connected to the lifting module 22, the clamping module 32 and the power module 42. The lifting clamp pressure acquisition module 21 is connected to the lifting module 22, the supporting clamp pressure acquisition module 31 is connected to the clamping module 32, the power acquisition module 41 is connected to the power module 42, and the power module 42 is connected to the lifting module 22 and the clamping module 32. The control module receives the information from the lifting clamp pressure acquisition module 21. , supports the data information collected by the clamp pressure acquisition module 31 and the power acquisition module 41 and issues control instructions to the lifting module 22, the clamping module 32 and the power module 42 according to the data information to control the lifting module 22, the clamping module 32 and the power module 42 to complete the replacement of the main pile. When there is a need to replace the pile, the control module supports the data information collected by the clamp pressure acquisition module 21, the clamp pressure acquisition module 31 and the power acquisition module 41 and issues control instructions to the lifting module 22, the clamping module 32 and the power module 42 according to the data information to complete the replacement of the main pile. During the entire pile replacement process, no manual operation is required, and the automation of pile replacement is realized, thereby effectively improving the efficiency of pile replacement and also improving the safety during the pile replacement process.

[0048] like Figure 2 As shown, in some embodiments, the control device 1 includes a first control module 11, a second control module 12, a third control module 13 and a fourth control module 14. The first control module 11 is connected to the second to fourth control modules. The first control module 11 is also connected to the lifting clamp pressure acquisition module 21, the supporting clamp pressure acquisition module 31 and the power acquisition module 41. The second control module 12 is also connected to the lifting module 22. The third control module 13 is also connected to the clamping module 32. The fourth control module 14 is also connected to the power module 42.

[0049] This embodiment matches a control module to each functional module, which improves the reliability of the system. If the control module of a functional module fails, the control modules of other modules can still work normally, avoiding the risk of the entire system being paralyzed due to a single point failure and enhancing the flexibility of the system. After each functional module has an independent control module, system expansion is more convenient. When a new functional module is added, it is only necessary to add a corresponding control module for it, without the need for large-scale transformation of the existing system, reducing communication delays. The centralized control module needs to communicate with other modules through a bus or network, which may introduce delays, especially in large and complex systems. This embodiment is a distributed control architecture, and the control logic of each module is directly processed by the local control module, reducing communication overhead, improving response speed, and improving parallel processing capabilities. The control module of each functional module can process its own tasks at the same time, improving the overall efficiency of the system.

[0050] like Figure 3 As shown, in some embodiments, the pile-changing system further includes a trolley device 5, which includes a trolley travel acquisition module 51 and a travel module 52. The control device 1 further includes a fifth control module 15, which is connected to the travel module 52 and the first control module 11 respectively. The trolley travel acquisition module 51 is connected to the travel module 52, and the power module 42 is connected to the travel module 52. The travel module 52 is used to control the forward and reverse movement of the trolley. The first to fifth control modules can all be PLC control modules.

[0051] like Figure 4 As shown, in some embodiments, the pile replacement system further includes a height monitoring device 6, which is connected to the first control module 11. The height monitoring device 6 is used to monitor the real-time height values of the steel piles to be used in the process of lifting and lowering the main piles by the lifting module 22, and transmit the real-time height values to the first control module 11. The first control module 11 controls the pile replacement process according to the real-time height values of the corresponding steel piles.

[0052] In some embodiments, the lifting clamp device 2 is a lifting clamp subsystem, the lifting module 22 includes a lifting cylinder and a lifting cylinder stroke sensor, which is used to collect the displacement of the lifting cylinder during the rising or falling process, the lifting wire rope, the lifting solenoid valve and the lowering solenoid valve, the lifting clamp pressure acquisition module 21 is a lifting clamp hydraulic circuit pressure sensor, the supporting clamp device 3 is a supporting clamp subsystem, the clamping module 32 includes a supporting clamp, a clamping cylinder, a clamping solenoid valve and a releasing solenoid valve, the supporting clamp pressure acquisition module 31 is a supporting clamp hydraulic circuit sensor, the power device 4 is a hydraulic subsystem, the power module 42 includes a hydraulic pump and a power solenoid valve, the power acquisition module 41 is a power circuit pressure sensor, the trolley device 5 is a trolley subsystem, the traveling module 52 includes a trolley, a trolley traveling cylinder, a trolley traveling solenoid valve and a trolley retraction solenoid valve, the trolley stroke acquisition module 51 is a trolley stroke sensor, and the height monitoring device 6 is a steel pile height monitoring subsystem, including an image camera, a steel pile top marker and a steel pile height calculation host. The above subsystems can all use existing equipment on the cutter suction dredger. Each steel pile has a lifting fixture subsystem and a supporting fixture subsystem.

[0053] like Figure 5 As shown, this embodiment discloses a pile changing method using the above-mentioned pile changing system of the cutter suction dredger, comprising the following steps:

[0054] S1. Set the first to seventh pressure thresholds and adjust the power provided by the power module 42 to reach the first pressure threshold; S2. Use the lifting module 22 and the clamping module 32 to lower the auxiliary pile. When the lifting fixture pressure acquisition module 21 acquires the first pressure value when the lifting module 22 lifts the auxiliary pile and the lifting fixture pressure acquisition module 21 acquires the second pressure value when the lifting module 22 lowers the auxiliary pile is less than the third pressure threshold, the lowering of the auxiliary pile is completed;

[0055] S3 using the lifting module 22 and the clamping module 32 to lift the first main pile, the lifting clamp pressure acquisition module 21 acquisition module 22 to lift the first main pile when the third pressure value is equal to the fourth pressure threshold, complete the lifting of the first main pile;

[0056] S4 using the lifting module 22 and the clamping module 32 to release the second main pile, the lifting fixture pressure acquisition module 21 acquisition module 22 to lift the second main pile when the fourth pressure value is equal to the fifth pressure threshold and the lifting fixture pressure acquisition module 21 acquisition module 22 to release the second main pile when the fifth pressure value is equal to the sixth pressure threshold, complete the release of the second main pile;

[0057] S5. Use the lifting module 22 and the clamping module 32 to lift the auxiliary pile. When the sixth pressure value collected by the lifting fixture pressure collection module 21 when the lifting module 22 lifts the auxiliary pile is equal to the seventh pressure threshold, the lifting of the auxiliary pile is completed.

[0058] In this embodiment, by setting the first to seventh pressure thresholds, the auxiliary pile is lowered using the lifting module 22 and the clamping module 32. When the first pressure value collected by the lifting fixture pressure acquisition module 21 when the lifting module 22 lifts the auxiliary pile is equal to the second pressure threshold and the second pressure value collected by the lifting fixture pressure acquisition module 21 when the lifting module 22 lowers the auxiliary pile is less than the third pressure threshold, the lowering of the auxiliary pile is completed. The first main pile is lifted using the lifting module 22 and the clamping module 32. When the third pressure value collected by the lifting fixture pressure acquisition module 21 when the lifting module 22 lifts the first main pile is equal to the fourth pressure threshold, the lifting of the first main pile is completed. The second main pile is lowered using the lifting module 22 and the clamping module 32. When the fourth pressure value collected by the collection module 21 when the lifting module 22 lifts the second main pile is equal to the fifth pressure threshold and the fifth pressure value collected by the lifting fixture pressure collection module 21 when the lifting module 22 lowers the second main pile is equal to the sixth pressure threshold, the lowering of the second main pile is completed, and the lifting module 22 and the clamping module 32 are used to lift the auxiliary pile. When the sixth pressure value collected by the lifting fixture pressure collection module 21 when the lifting module 22 lifts the auxiliary pile is equal to the seventh pressure threshold, the lifting of the auxiliary pile is completed, and the process of replacing the first main pile with the second main pile is completed. No manual participation is required throughout the process, and it is carried out automatically based on the pile replacement system, thereby effectively improving the efficiency of pile replacement and also improving the safety during the pile replacement process.

[0059] In some embodiments, in step S1, an eighth pressure threshold, a first stroke threshold, and a second stroke threshold are further set. In step S3, when the third pressure value acquired by the lifting fixture pressure acquisition module 21 when the lifting module 22 lifts the first main pile is not equal to the fourth pressure threshold, adjustment is performed to make the third pressure value of the first main pile equal to the fourth pressure threshold. The adjustment steps are as follows:

[0060] S31. When the lifting module 22 lifts the first main pile to a stroke greater than the first stroke threshold, the lifting module 22 stops lifting, the clamping module 32 clamps the first main pile, and the lifting module 22 drops;

[0061] S32. When the descending stroke of the lifting module 22 is less than the second stroke threshold, the lifting module 22 rises, and the lifting clamp pressure acquisition module 21 collects the seventh pressure value when lifting the first main pile. When the seventh pressure value is greater than the eighth pressure threshold, the clamping module 32 stops clamping the first main pile, and the lifting module 22 continues to lift the first main pile.

[0062] In some embodiments, in step S1, a ninth pressure threshold, a third stroke threshold, and a fourth stroke threshold are further set. In step S5, when the sixth pressure value collected by the lifting fixture pressure collection module 21 when the lifting module 22 lifts the auxiliary pile is not equal to the seventh pressure threshold, the sixth pressure value of the auxiliary pile is adjusted to be equal to the seventh pressure threshold. The adjustment steps are as follows:

[0063] S51. When the stroke of the lifting module 22 to lift the auxiliary pile is greater than the third stroke threshold, the lifting module 22 stops lifting, the clamping module 32 clamps the auxiliary pile, and the lifting module 22 drops;

[0064] S52. When the descending stroke of the lifting module 22 is less than the fourth stroke threshold, the lifting module 22 rises, and the lifting clamp pressure collection module 21 collects the eighth pressure value when lifting the auxiliary pile. When the eighth pressure value is greater than the ninth pressure threshold, the clamping module 32 stops clamping the auxiliary pile, and the lifting module 22 continues to lift the auxiliary pile.

[0065] In some embodiments, the pile-changing method further includes step S6. Upon completion of the lifting of the first main pile in step S3, the trolley is retracted using the travel module 52. The retraction is completed when the first trolley travel value collected by the trolley travel collection module 51 is less than a third travel threshold. After the retraction is completed, step S4 is executed, where the third travel threshold is set in step S1. The purpose of retracting the trolley is to provide space for lowering the second main pile to prevent the second main pile from colliding with the auxiliary pile during lowering, which could damage the equipment or cause pile-changing failure.

[0066] In some embodiments, the pile changing method further includes S7. Checking whether the power device 4, the trolley device 5, and the height monitoring device 6 are normal. If all are normal, steps S2 to S6 are executed to ensure that the pile changing system is in a normal state so that the pile changing process can be completed smoothly.

[0067] In some embodiments, the pile-changing method further includes step S8. When the second trolley travel value collected by the trolley travel collection module 51 is less than a fourth travel threshold, steps S2 to S7 are executed, where the fourth travel threshold is set in step S1. That is, when the first trolley travel value collected by the trolley travel collection module 51 is less than the fourth travel threshold, pile-changing is initiated.

[0068] As shown in FIG6, FIG6 includes Figure 6.1 、 Figure 6.2 and Figure 6.3 In some embodiments, the pile changing method specifically includes three stages: pile changing setting stage A1, trolley stroke identification stage A2, and automatic pile changing stage A3, wherein A1. pile changing setting stage includes:

[0069] Before one-click pile replacement, it is necessary to set basic parameters for the pile replacement process. These basic parameters constrain or select the pile replacement process. The basic parameters mainly include the first to eighth pressure thresholds, the first to fourth stroke thresholds, the trolley retraction speed, the steel pile lifting height, and the auger safety height during the pile replacement process.

[0070] A2. The trolley travel identification stage includes:

[0071] During the construction of the cutter suction dredger, the remaining travel of the trolley needs to be detected in real time. When the remaining trolley travel is less than the set threshold, that is, the fourth travel threshold, and the excavation depth is at the lowest layer, the cutter moves horizontally to the center line, the bridge is raised to a safe height, and the automatic pile replacement process is carried out;

[0072] The A3 automatic pile change phase includes: the pile change system will read the basic parameters of the pile change settings and enter the preparation process, which specifically includes the following steps:

[0073] A31. Preparation Process: The system performs a self-test to check the hydraulic subsystem's usability. If so, a start command is sent to complete the startup. This essentially tests whether the pressure provided by the hydraulic pump reaches a first pressure threshold. If so, the hydraulic subsystem is operational. If not, the power solenoid valve continues to operate until the threshold is reached. If so, the steel pile trolley subsystem is tested for alarms. If no alarms are present, the steel pile height detection subsystem is tested for normal operation. If normal, the subsequent steps proceed.

[0074] A32. Auxiliary pile lowering process: The auxiliary pile cylinder lifting solenoid valve opens, the auxiliary pile lifting cylinder oil pressure increases, the auxiliary pile lifting cylinder extends, and the auxiliary pile lifting wire rope is tightened. When the auxiliary pile lifting cylinder oil pressure rises to the threshold value 32_A, which is the second pressure threshold, the auxiliary pile lifting solenoid valve is closed to maintain this pressure, and the auxiliary pile support clamp is opened, that is, the auxiliary pile clamping solenoid valve is opened. At this time, the auxiliary pile lifting cylinder is subjected to the full gravity of the auxiliary pile; the auxiliary pile lowering solenoid valve is opened, the auxiliary pile is lowered with load, and the auxiliary pile lifting cylinder oil pressure is monitored in real time; the subsequent process is divided according to the construction soil type. When the construction soil type is soft soil such as silt and fine silt sand, when the auxiliary pile lifting cylinder oil pressure is less than the threshold value 32_B, it means that the auxiliary pile is inserted into the mud. The auxiliary pile release solenoid valve and the auxiliary pile lowering solenoid valve are activated to start free lowering, completing the auxiliary pile lowering process. When the construction soil is medium-hard soil such as fine silt and medium-coarse sand, when the oil pressure of the auxiliary pile lifting cylinder is less than the threshold value 32_C, it means that the auxiliary pile is inserted into the mud, and the auxiliary pile release solenoid valve and the auxiliary pile lowering solenoid valve are activated to start free lowering, completing the auxiliary pile lowering process. When the construction soil is hard soil such as gravel and rock, when the oil pressure of the auxiliary pile lifting cylinder is less than the threshold value 32_D, it means that the auxiliary pile has just entered the soil, and the auxiliary pile release solenoid valve and the auxiliary pile lowering solenoid valve are activated to start free lowering, completing the auxiliary pile lowering process. Among them, threshold values 32_B, 32_C, and 32_D all refer to the third pressure threshold value.

[0075] A33. First main pile lifting process: Open the first main pile lifting solenoid valve, lift the first main pile lifting cylinder, and drive the first main pile to lift. Monitor the first main pile lifting cylinder pressure in real time. When the first main pile lifting cylinder pressure reaches 33_A, which is the fourth pressure threshold, it means that the first main pile has been lifted above the mud surface. When the first main pile is not lifted to the mud surface, the first main pile lifting cylinder stroke reaches the maximum, which is also the first stroke threshold value. The first main pile supports the fixture and clamps the first main pile, which is to start the first main pile clamping electromagnetic valve. The first main pile lifting cylinder no-load descends, and the first main pile lifting cylinder retracts to the stroke minimum position, which is also the second stroke threshold value. At this moment, open the first main pile lifting electromagnetic valve, the first main pile lifting cylinder oil pressure rises, and the first main pile lifting cylinder stretches out, and the first main pile lifting wire rope is tightened. After the first main pile lifting cylinder oil pressure rises to the threshold value 33_B, which is also the fifth pressure threshold value, close the first main pile lifting electromagnetic valve and maintain this pressure. Open the first main pile and support the fixture, which is to start the first main pile clamping electromagnetic valve. The first main pile lifting cylinder is now subject to the whole gravity of the first main pile. Open the first main pile lifting electromagnetic valve then, continue to lift the first main pile, repeat this step, until the first main pile is lifted to the mud surface, complete the first main pile lifting process. The height lifted in the lifting process of the first main pile need not exceed the steel pile lifting height provided with, to prevent collision.

[0076] A34. Trolley retraction process: Open the trolley retraction solenoid valve and control the trolley travel cylinder to retreat. When the trolley stroke is less than the set value 34_A, which is the third stroke threshold, close the trolley retraction solenoid valve to complete the trolley retraction process. During the trolley retraction process, the trolley retraction speed must not exceed the set retraction speed.

[0077] A35. Second main pile lowering process: The second main pile cylinder lifting solenoid valve opens, the second main pile lifting cylinder oil pressure increases, the second main pile lifting cylinder extends, and the second main pile lifting wire rope is tightened. When the main lifting cylinder oil pressure rises to the threshold value 35_A, which is the fifth pressure threshold, the second main pile lifting solenoid valve is closed to maintain this pressure, and the second main pile support clamp is opened. The second main pile lifting cylinder is now subjected to the full weight of the second main pile; the second main pile lowering solenoid valve is opened, the second main pile is lowered with load, and the second main pile lifting cylinder oil pressure is monitored in real time. When the construction soil is soft soil such as silt and fine silt sand, when the second main pile lifting cylinder oil pressure is less than the threshold value 35_A, the second main pile lifting cylinder oil pressure is monitored in real time. _B indicates that the main pile is embedded in the mud. The second main pile lowering solenoid valve is opened, and the second main pile begins to freely descend, completing the second main pile lowering process. When the construction soil is medium-hard soil such as fine silt or medium-coarse sand, when the oil pressure in the second main pile lifting cylinder falls below the threshold 35_C, it indicates that the second main pile is embedded in the mud. The second main pile lowering solenoid valve is opened, and the second main pile begins to freely descend, completing the second main pile lowering process. When the construction soil is hard soil such as gravel or rock, when the oil pressure in the second main pile lifting cylinder falls below the threshold 35_D, it indicates that the second main pile has just been buried. The second main pile lowering solenoid valve is opened, and the second main pile begins to freely descend, completing the second main pile lowering process. Thresholds 35_B, 35_C, and 35_D are all sixth pressure thresholds.

[0078] A36. Auxiliary pile lifting process: The auxiliary pile lifting solenoid valve opens, the auxiliary pile lifting cylinder rises, driving the auxiliary pile to lift, and the auxiliary pile lifting cylinder pressure is monitored in real time. When the auxiliary pile lifting cylinder pressure remains at 36_A, which is the seventh pressure threshold, it means that the auxiliary pile has been lifted above the mud surface. When the auxiliary pile is not lifted above the mud surface, but the stroke of the auxiliary pile lifting cylinder reaches the maximum, that is, the third stroke threshold, the auxiliary pile support clamp is clamped, the auxiliary pile lifting cylinder descends without load, and the auxiliary pile lifting cylinder retracts to the minimum stroke position, that is, the fourth stroke threshold; at this time, the auxiliary pile lifting solenoid valve is opened, the auxiliary pile lifting cylinder oil pressure increases, the auxiliary pile lifting cylinder extends, and the auxiliary pile lifting wire rope is tightened. When the auxiliary pile lifting cylinder oil pressure rises to the threshold 36_B, that is, the seventh pressure threshold, the auxiliary pile lifting solenoid valve is closed to maintain the pressure, and the auxiliary pile support clamp is opened, that is, the auxiliary pile clamping solenoid valve is started. The auxiliary pile lifting cylinder is now subjected to the full gravity of the auxiliary pile; then the auxiliary pile lifting solenoid valve is opened to continue lifting the auxiliary pile, and this step is repeated until the auxiliary pile is lifted above the mud surface, completing the auxiliary pile lifting process. During the lifting process of the auxiliary pile, the lifting height needs to not exceed the set steel pile lifting height to prevent collision;

[0079] A37. The automatic pile replacement control process ends.

[0080] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A pile replacement system for a cutter suction dredger, characterized in that: Including control device, lifting fixture device, supporting fixture device and power device, The lifting fixture device includes a lifting fixture pressure acquisition module and a lifting module. The supporting fixture device includes a supporting fixture pressure acquisition module and a clamping module. The power device includes a power collection module and a power module. The control device is connected to the lifting fixture pressure acquisition module, the supporting fixture pressure acquisition module and the power acquisition module, and is also connected to the lifting module, the clamping module and the power module. The lifting fixture pressure acquisition module is connected to the lifting module, the supporting fixture pressure acquisition module is connected to the clamping module, the power acquisition module is connected to the power module, and the power module is connected to the lifting module and the clamping module. The control module receives the data information collected by the lifting clamp pressure collection module, the supporting clamp pressure collection module and the power collection module and issues control instructions to the lifting module, the clamping module and the power module according to the data information to control the lifting module, the clamping module and the power module to complete the replacement of the main pile.

2. The pile replacement system of a cutter suction dredger according to claim 1, characterized in that: The control device includes a first control module, a second control module, a third control module and a fourth control module. The first control module is connected to the second to fourth control modules. The first control module is also connected to the lifting fixture pressure acquisition module, the supporting fixture pressure acquisition module and the power acquisition module. The second control module is also connected to the lifting module. The third control module is also connected to the clamping module. The fourth control module is also connected to the power module.

3. The pile replacement system of a cutter suction dredger according to claim 2, characterized in that: It also includes a trolley device, which includes a trolley stroke acquisition module and a travel module. The control device also includes a fifth control module, which is connected to the travel module and the first control module respectively. The trolley stroke acquisition module is connected to the travel module, and the power module is connected to the travel module.

4. The pile replacement system of a cutter suction dredger according to claim 3, characterized in that: It also includes a height monitoring device, which is connected to the first control module.

5. A pile replacement method using the pile replacement system of a cutter suction dredger according to any one of claims 1 to 4, characterized in that: The following steps are involved: S1. Setting the first to seventh pressure thresholds, adjusting the power provided by the power module to reach the first pressure threshold; S2. Use the lifting module and the clamping module to lower the auxiliary pile. When the lifting fixture pressure acquisition module collects the first pressure value when the lifting module lifts the auxiliary pile and the second pressure threshold is equal to the second pressure value when the lifting fixture pressure acquisition module collects the lifting module to lower the auxiliary pile is less than the third pressure threshold, the lowering of the auxiliary pile is completed; S3 using the lifting module and the clamping module to lift the first main pile, the lifting clamp pressure acquisition module collects the lifting module to lift the first main pile when the third pressure value is equal to the fourth pressure threshold, complete the lifting of the first main pile; S4. Use the lifting module and the clamping module to lower the second main pile, the lifting clamp pressure acquisition module collects the fourth pressure value when the lifting module lifts the second main pile and the lifting clamp pressure acquisition module collects the fifth pressure value when the lifting module lowers the second main pile and the sixth pressure threshold is equal, complete the lowering of the second main pile; S5. Use the lifting module and the clamping module to lift the auxiliary pile. When the sixth pressure value collected by the lifting fixture pressure collection module when the lifting module lifts the auxiliary pile is equal to the seventh pressure threshold, the lifting of the auxiliary pile is completed.

6. The pile replacement method using the pile replacement system of a cutter suction dredger according to claim 5, characterized in that: In step S1, an eighth pressure threshold, a first stroke threshold, and a second stroke threshold are also set. In step S3, when the third pressure value collected by the lifting fixture pressure collection module when the lifting module lifts the first main pile is not equal to the fourth pressure threshold, adjustment is performed to make the third pressure value of the first main pile equal to the fourth pressure threshold, and the adjustment steps are as follows: S31. When the stroke of the lifting module to lift the first main pile is greater than the first stroke threshold, the lifting module stops lifting, the clamping module clamps the first main pile, and the lifting module descends; S32. When the descending stroke of the lifting module is less than the second stroke threshold, the lifting module rises, and the lifting clamp pressure acquisition module acquires a seventh pressure value when the first main pile is lifted. When the seventh pressure value is greater than the eighth pressure threshold, the clamping module stops clamping the first main pile, and the lifting module continues to lift the first main pile.

7. The pile replacement method using the pile replacement system of a cutter suction dredger according to claim 5, characterized in that: In step S1, a ninth pressure threshold, a third travel threshold, and a fourth travel threshold are also set. In step S5, when the sixth pressure value collected by the lifting fixture pressure collection module when the lifting module lifts the auxiliary pile is not equal to the seventh pressure threshold, the sixth pressure value of the auxiliary pile is adjusted to be equal to the seventh pressure threshold, and the adjustment steps are as follows: S51. When the stroke of the auxiliary pile lifted by the lifting module is greater than the third stroke threshold, the lifting module stops lifting, the clamping module clamps the auxiliary pile, and the lifting module descends; S52. When the descending stroke of the lifting module is less than the fourth stroke threshold, the lifting module rises, and the lifting clamp pressure collection module collects an eighth pressure value when lifting the auxiliary pile. When the eighth pressure value is greater than the ninth pressure threshold, the clamping module stops clamping the auxiliary pile, and the lifting module continues to lift the auxiliary pile.

8. The pile replacement method using the pile replacement system of a cutter suction dredger according to claim 5, characterized in that: The pile changing system also includes a trolley device, which includes a trolley stroke acquisition module and a travel module. The control device is connected to the trolley stroke acquisition module and the travel module. The trolley stroke acquisition module is connected to the travel module, and the power module is connected to the travel module. The pile changing method also includes S6. When the lifting of the first main pile in step S3 is completed, the travel module is used to complete the trolley retraction, and the retraction is completed when the first trolley stroke value collected by the trolley stroke acquisition module is less than the third stroke threshold. Step S4 is executed after the retraction is completed. The third stroke threshold is set in step S1.

9. The pile replacement method using the pile replacement system of a cutter suction dredger according to claim 8, characterized in that: The pile changing system further includes a height monitoring device connected to the control device. The pile changing method further includes S7. detecting whether the power device, the trolley device and the height monitoring device are normal. If all are normal, executing steps S2 to S6.

10. The pile replacement method using the pile replacement system of a cutter suction dredger according to claim 9, characterized in that: It also includes S8. When the second trolley stroke value collected by the trolley stroke collection module is less than a fourth stroke threshold, executing steps S2 to S7, and the fourth stroke threshold is set in step S1.

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