Wind power foundation steel pile cutting and recycling device and method

Abstract

The invention provides a wind power foundation steel pile cutting and recycling device and method.The device comprises a fixing module, a middle module and an operation module, the middle module rotationally connected with the fixing module is arranged below the fixing module, and the operation module connected with the middle module is arranged below the middle module; the fixing module comprises a fixing main body and a plurality of grabbing assemblies arranged along the peripheral side of the fixing main body, and the multiple grabbing assemblies can grab the inner wall of the steel pile to fix the cutting and recycling device; the operation module comprises an operation main body and a plurality of mechanical arms arranged along the peripheral side of the operation main body, a slurry suction port and a high-pressure flushing port are formed in the bottom of the operation main body, every two mechanical arms form a group, an underwater cutting assembly is arranged at the functional end of at least one group of mechanical arms, and a high-pressure flushing assembly is arranged at the functional end of at least one group of mechanical arms; the operation module cuts the steel pile section by section according to the cutting stroke. The steel piles are cut and recycled section by section, equipment is simple and small, large equipment does not need to be additionally used, cost is saved, and applicability is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ocean engineering, in particular to a wind power foundation steel pile cutting and recycling device, and also relates to a wind power foundation steel pile cutting and recycling method. BACKGROUND

[0002] With the upgrading of offshore wind turbine generators, the recycling of the original unit has become the focus of construction, and the recycling of the wind power foundation steel pile is more difficult. At present, the recycling of the wind power foundation steel pipe pile needs large floating cranes for hoisting construction, and the use of dredging equipment and underwater robots is needed for external steel pile underwater cutting during the construction process. The required equipment is more, the cost is high, and it is greatly affected by the sea current, which affects the cutting efficiency. SUMMARY

[0003] The present application aims to provide a wind power foundation steel pile cutting and recycling device to overcome the deficiencies in the prior art.

[0004] To solve the above technical problems, the technical scheme of the present application is: a wind power foundation steel pile cutting and recycling device, comprising a fixed module, an intermediate module and a working module, the fixed module is rotatably connected with the intermediate module below, the intermediate module is fixedly connected with the working module below; the fixed module comprises a fixed main body and a plurality of circumferentially distributed grabbing assemblies arranged along the circumferential side of the fixed main body, a plurality of the grabbing assemblies can grab the inner wall of the steel pile fixed cutting and recycling device; the working module comprises a working main body and a plurality of circumferentially distributed mechanical arms arranged along the circumferential side of the working main body, the bottom of the working main body is provided with a mud suction port and a high-pressure water flushing port, a plurality of the mechanical arms are arranged in pairs as a group, each group of mechanical arms is symmetrically arranged with the working main body axis as the center, and the functional end of at least one group of the mechanical arms is provided with an underwater cutting assembly, the functional end of at least one group of the mechanical arms is provided with a high-pressure water flushing assembly, the underwater cutting assembly and the high-pressure water flushing assembly are arranged at intervals, the working module cuts the steel pile in sections according to the cutting stroke, and the cutting stroke is the distance between the grabbing position of the grabbing assembly on the inner wall of the steel pile and the underwater cutting assembly.

[0005] Further, the wind power foundation steel pile cutting and recycling device described above, the fixed main body comprises a plurality of fixed parts corresponding to the grabbing assemblies, the adjacent fixed parts are provided with a connecting part connecting the fixed parts, the grabbing assemblies are arranged on the corresponding fixed parts, and the middle part of the fixed main body is provided with an installation cavity in communication with the inside of the intermediate module and the working main body.

[0006] Further, the wind power foundation steel pile cutting and recycling device, the fixed part includes a top sealing plate, an inner side plate and an outer side plate, the outer side plate is provided with two, which are arranged on the two sides below the top sealing plate, the inner side plate is arranged on the inner side of the outer side plate and connected with the two outer side plates, the top sealing plate is provided with lifting lugs on the top, and the top sealing plate, the inner side plate and the outer side plate form a square frame body which is open at the lower end and the outer side.

[0007] Further, the wind power foundation steel pile cutting and recycling device, the fixed part includes a top sealing plate, an inner side plate and an outer side plate, the outer side plate is provided with two, which are arranged on the two sides below the top sealing plate, the inner side plate is arranged on the inner side of the outer side plate and connected with the two outer side plates, the top sealing plate is provided with lifting lugs on the top, and the top sealing plate, the inner side plate and the outer side plate form a square frame body which is open at the lower end and the outer side.

[0008] Further, the wind power foundation steel pile cutting and recycling device, the fixed part includes a top sealing plate, an inner side plate and an outer side plate, the outer side plate is provided with two, which are arranged on the two sides below the top sealing plate, the inner side plate is arranged on the inner side of the outer side plate and connected with the two outer side plates, the top sealing plate is provided with lifting lugs on the top, and the top sealing plate, the inner side plate and the outer side plate form a square frame body which is open at the lower end and the outer side.

[0009] Further, the wind power foundation steel pile cutting and recycling device, the fixed part includes a top sealing plate, an inner side plate and an outer side plate, the outer side plate is provided with two, which are arranged on the two sides below the top sealing plate, the inner side plate is arranged on the inner side of the outer side plate and connected with the two outer side plates, the top sealing plate is provided with lifting lugs on the top, and the top sealing plate, the inner side plate and the outer side plate form a square frame body which is open at the lower end and the outer side.

[0010] Further, the wind power foundation steel pile cutting and recycling device, the fixed part includes a top sealing plate, an inner side plate and an outer side plate, the outer side plate is provided with two, which are arranged on the two sides below the top sealing plate, the inner side plate is arranged on the inner side of the outer side plate and connected with the two outer side plates, the top sealing plate is provided with lifting lugs on the top, and the top sealing plate, the inner side plate and the outer side plate form a square frame body which is open at the lower end and the outer side.

[0011] Further, the wind power foundation steel pile cutting and recycling device, the fixed part includes a top sealing plate, an inner side plate and an outer side plate, the outer side plate is provided with two, which are arranged on the two sides below the top sealing plate, the inner side plate is arranged on the inner side of the outer side plate and connected with the two outer side plates, the top sealing plate is provided with lifting lugs on the top, and the top sealing plate, the inner side plate and the outer side plate form a square frame body which is open at the lower end and the outer side.

[0012] Further, the wind power foundation steel pile cutting and recycling device, the mechanical arm further comprises a telescopic rod four, one end of the telescopic rod four is hinged to the support arm two, and the other end of the telescopic rod four is a telescopic end and is hinged to a support arm three away from the support arm one.

[0013] Further, the wind power foundation steel pile cutting and recycling device, the mechanical arm further comprises a telescopic rod four, one end of the telescopic rod four is hinged to the support arm two, and the other end of the telescopic rod four is a telescopic end and is hinged to a support arm three away from the support arm one.

[0014] Further, the wind power foundation steel pile cutting and recycling device further comprises a detection mechanism, and the detection mechanism comprises a camera and an illumination assembly arranged on the operation main body.

[0015] The application further provides a wind power foundation steel pile cutting and recycling method, comprising the following steps. S1, according to the lifting capacity of the ship crane and the length of the steel pile to be cut, the cutting stroke of the cutting and recycling device is designed, the steel pile is divided into multiple sections, and the steel pile is cut in sections. S2, the ship crane hoists the lower end of the cutting and recycling device into a first section of the steel pile to be cut, the detection mechanism judges whether a second section below the first section needs to be dredged, if not, the first section is cut according to step S3, otherwise, the first section is cut according to step S4. S3, cutting the first section, the cutting of the first section comprises the following steps: S31, when the grabbing part of the pushing rod enters the inside of the steel pile, the telescopic rod one starts to drive the pushing rod to grab the inner wall of the steel pile, and the cutting and recycling device is fixed; S32, the mechanical arm drives the underwater cutting assembly to act, so that the cutting head of the underwater cutting assembly is close to the inner wall of the steel pile, and the cutting is started; S33, the rotating assembly is started to drive the intermediate module and the operation main body to rotate, and the sum of the rotation angles of the underwater cutting assemblies is greater than 360°, and the cutting is completed. S4, the second cylinder section is dredged, and after the dredging is completed, the cutting and recycling device returns to the first cylinder section, and the cutting of the first cylinder section is completed according to step S3; S5, the ship crane hoists the cut cylinder section and the cutting and recycling device to the ship cylinder section storage area, and then the cutting and recycling device returns to the steel pile position through the crane; S6, repeat steps S2-S5 until the specified elevation of the steel pile is cut, and the cutting and recycling of the steel pile are completed. The ship is transferred, and the cutting and recycling of the next steel pile is performed.

[0016] Further, in the above-mentioned wind power foundation steel pile cutting and recycling method, in step S33, after rotation cutting, it is necessary to detect and judge whether the cutting seam of each underwater cutting assembly is connected, if connected, the cutting is completed, if not connected, there is an up-down deviation in the cutting seam of each underwater cutting assembly, the mechanical arm drives the underwater cutting assembly to cut up and down to connect the cutting seam.

[0017] Further, in the above-mentioned wind power foundation steel pile cutting and recycling method, in step S4, the dredging of the second cylinder section includes the following steps: S41, the crane hoists the cutting and recycling device to the position close to the dredging position, and fixes the cutting and recycling device; S42, start the high-pressure water jet and each high-pressure water jet assembly to spray the middle mud and the surrounding mud below; S43, when the mud is sprayed to the mud state, start the mud suction port, and the mud is sucked into the mud storage tank on the ship through the bottom mud suction port; S44, repeat the dredging steps S41-S43 until the mud in the second cylinder section is completely cleaned; S45, clean the cutting area of the second cylinder section, start each high-pressure water jet assembly, and simultaneously rotate the assembly to start driving the intermediate module and the working body to rotate, the sum of the rotation angles of each high-pressure water jet assembly is greater than 360°, and the cleaning of the cutting area is completed.

[0018] Compared with the prior art, the beneficial effects of the present application are: the cutting and recycling device cuts and recycles the steel pile in sections, the equipment is simple and small, the operation is convenient and fast, no large equipment is needed, the cost is greatly reduced, the applicability is strong, the cutting and recycling device is located in the steel pile during cutting, the influence of external sea current environment on cutting is reduced, the use range is increased, and the internal mud of the steel pile is cleaned during cutting, which is convenient for subsequent transportation and recycling. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort based on these drawings.

[0020] Figure 1 Schematic diagram of the three-dimensional structure of the wind power foundation steel pile cutting and recycling device Figure 1 ; Figure 2 Schematic diagram of the three-dimensional structure of the wind power foundation steel pile cutting and recycling device Figure 2 ; Figure 3 Schematic diagram of the partial structure of the wind power foundation steel pile cutting and recycling device Figure 4 Schematic diagram of the bottom view of the wind power foundation steel pile cutting and recycling device Figure 5 Schematic diagram of the A cross-section of Figure 4 ; Schematic diagram of the B partial enlargement of Figure 6 Schematic diagram of the wind power foundation steel pile cutting and recycling device in the fixed state of the barrel section one Figure 5 ; Schematic diagram of the wind power foundation steel pile cutting and recycling device in the cleaning state of the barrel section two Figure 7 Schematic diagram of the wind power foundation steel pile cutting and recycling device in the fixed state of the barrel section one Figure 8 Schematic diagram of the wind power foundation steel pile cutting and recycling device in the cleaning state of the barrel section two In the figure: 100, cutting and recycling device 1, fixed module; 11, fixed main body; 111, fixed part; 1111, top sealing plate; 1112, inner side plate; 1113, outer side plate; 1114, lifting lug; 1115, reinforcing plate one; 1116, reinforcing plate two; 1117, reinforcing plate three; 112, connecting part; 1121, arc-shaped guard plate; 1122, fan-shaped reinforcing plate; 1123, passage hole; 113, installation cavity; 12, grabbing assembly; 121, push rod; 122, telescopic rod one; 123, hinge base one; 124, hinge base two; 13, installation platform 3, intermediate module 3, operation module; 31, operation main body; 32, mechanical arm; 321, hinge base three; 322, hinge base four; 323, support arm one; 324, support arm two; 325, telescopic rod two; 326, telescopic rod three; 327, hinge base five; 328, telescopic rod four; 329, support arm three; 33, mud suction port; 34, high-pressure water flushing port 4, rotating assembly; 41, rotary flange; 42, ring-shaped rack Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Example 1 like Figures 1-8 As shown, a wind power foundation steel pile cutting and recycling device includes a fixed module 1, an intermediate module 2, and a working module 3. The intermediate module 2 is rotatably connected to the fixed module 1 below it, and the working module 3 is fixedly connected to the intermediate module 2 below it. The fixed module 1 includes a fixed body 11 and multiple circumferentially distributed gripping components 12 arranged around the periphery of the fixed body 11. The multiple gripping components 12 can grip the inner wall of the steel pile and fix the cutting and recycling device 100. The working module 3 includes a working body 31 and multiple circumferentially distributed robotic arms 32 arranged around the periphery of the working body 31. The bottom of the working body 31 is provided with a mud suction port 33 and a high-pressure water jet port 34. The multiple robotic arms 32 are arranged in pairs, with each pair... The robotic arms 32 are symmetrically arranged around the axis of the working body 31, and at least one set of robotic arms 32 has an underwater cutting component (not shown in the figure) at its functional end, and at least one set of robotic arms 32 has a high-pressure water flushing component (not shown in the figure) at its functional end. The underwater cutting component and the high-pressure water flushing component are arranged alternately. The underwater cutting component is used to cut the steel pile, and the high-pressure water flushing component and the high-pressure water nozzle are used to flush the silt inside the steel pile. In this embodiment, two sets of robotic arms 32 are set, one set is equipped with the underwater cutting component, and the other set is equipped with the high-pressure water flushing component. The working module 3 cuts the steel pile in sections according to the cutting stroke H, where the cutting stroke H is the distance between the gripping position of the gripping component 12 on the inner wall of the steel pile and the underwater cutting component. This invention uses a cutting and recovery device to cut and recover steel piles in sections. The equipment is simple and compact, does not require additional large equipment, greatly reduces costs, and has strong applicability. The cutting and recovery device is located inside the steel pile during cutting, which can reduce the impact of the external ocean current environment on cutting, increase the scope of use, and clean the silt inside the steel pile during cutting, which facilitates subsequent transportation and recovery.

[0023] In this embodiment, the mud suction port 33 is connected to the mud pump via a pipe, and the high-pressure flushing port 34 and the high-pressure flushing assembly are both connected to the high-pressure pump. The mud pump and the high-pressure pump are installed on the ship.

[0024] like Figures 1-5As shown, the fixed body 11 includes a plurality of fixed parts 111 corresponding to the grabbing assembly 12, and the adjacent fixed parts 111 are provided with connecting parts 112 connecting the fixed parts 111, the grabbing assembly 12 is arranged on the corresponding fixed part 111, and the middle part of the fixed body 11 is provided with a mounting cavity 113 communicating with the inside of the intermediate module 2 and the working body 31. The working body 31 and the middle module 2 are both hollow structures, and the pipelines connected with the equipment on the ship, such as the mud suction port 33, can pass through the cavities in the middle parts of the working module 3, the intermediate module 2 and the fixed module 1. In addition, the working body 31 and the intermediate module 2 are connected by flanges, and the top of the working body 31 is provided with a flange connecting part connected with the bottom of the intermediate module 2.

[0025] As shown in Figure 3 , the fixed part 111 includes a top sealing plate 1111, an inner side plate 1112 and an outer side plate 1113, the outer side plate 1113 is provided with two, which is arranged below the two sides of the top sealing plate 1111, the inner side plate 1112 is arranged inside the outer side plate 1113 and connects the two outer side plates 1113, and the top of the top sealing plate 1111 is provided with an ear 1114, which can be used for lifting the cutting and recycling device 100, and the top sealing plate 1111, the inner side plate 1112 and the outer side plate 1113 form a square frame with open lower end and outer side.

[0026] As shown in Figure 3 , 5 , the grabbing assembly 12 includes a push rod 121 and a telescopic rod 122, the inside of the fixed part 111 is provided with a hinge seat 123 and a hinge seat 124, the hinge seat 123 is provided with the telescopic rod 122 hinged thereto, the hinge seat 124 is arranged directly below the hinge seat 123, the lower end of the push rod 121 is hinged with the hinge seat 124, and the upper end of the push rod 121 is provided with a grabbing part, the telescopic end of the telescopic rod 122 is connected with the upper end of the push rod 121, which can drive the grabbing part of the push rod 121 to move along the radial direction of the cross section of the steel pile, and when the cutting and recycling device needs to be fixed, the telescopic rod drives the grabbing part to move towards the inner wall of the steel pile, and provides pressure to make the push rod of each grabbing assembly firmly grab the inner wall of the steel pile.

[0027] The inner part of the fixed part 111 is also provided with a reinforcing assembly, which comprises reinforcing plate one 1115, reinforcing plate two 1116 and reinforcing plate three 1117. The reinforcing plate one 1115 is provided with two, which are arranged longitudinally along the inner side plate 1112. The two reinforcing plate ones 1115 are symmetrically arranged on the outer side of the middle part of the inner side plate 1112. A plurality of reinforcing plate twos 1116 are arranged between the two reinforcing plate ones 1115. A plurality of reinforcing plate threes 1117 are arranged between each reinforcing plate one 1115 and the corresponding outer side plate 1113 on the side. The hinge seat one 123 and the hinge seat two 124 are arranged on the two reinforcing plate ones 1115. When the cutting and recycling device 100 is fixed, the force of the grabbing assembly 12 is transmitted to the hinge seat one 123 and the hinge seat two 124. The force on the hinge seat one 123 and the hinge seat two 124 is transmitted to the surrounding through each reinforcing plate, which is stable in structure and ensures the stability of grabbing and fixing.

[0028] In order to further improve the structural stability, as shown in Figures 1-3 , the connecting part 112 comprises an arc-shaped guard plate 1121 and a fan-shaped reinforcing plate 1122. The arc-shaped guard plate 1121 connects the outer side ends of the outer side plates 1113 of the two adjacent fixed parts 111. The fan-shaped reinforcing plate 1122 is arranged on the inner side of the arc-shaped guard plate 1121. The outer arc surface of the fan-shaped reinforcing plate 1122 is connected with the arc-shaped guard plate 1121. The two side surfaces of the fan-shaped reinforcing plate 1122 are connected with the outer side plates 1113. A plurality of fan-shaped reinforcing plates 1122 are arranged longitudinally and uniformly distributed. A passage hole 1123 is further arranged on the fan-shaped reinforcing plate 1122. The passage hole not only can reduce the weight of the device, but also can be used as a hose passage for carrying the underwater cutting assembly and the high-pressure water flushing assembly.

[0029] The intermediate module 2 comprises at least one section of cylinder, and each cylinder is connected through a flange plate. Each section of cylinder can be made as a standard part, which is convenient for manufacturing and combined installation. The length of the intermediate module 2 can be adjusted by assembling different lengths of cylinders, so that the cutting stroke can be adjusted, that is, the cutting length of each section. During cutting, the combination can be used according to the actual scene, which is suitable for various cutting lengths.

[0030] As shown in Figure 5 , the intermediate module 2 is rotatably connected with the fixed main body 11 through a rotating assembly 4. The rotating assembly 4 comprises a rotary flange 41, an annular rack 42 and a driving member (not shown in the figure). The rotary flange 41 is arranged on the upper end of the intermediate module 2. The annular rack 42 is arranged on the rotary flange 41. The output end of the driving member is provided with a driving gear which is matched with the annular rack 42. An installation platform 13 is arranged in the installation cavity 113 in the middle part of the fixed main body 11. The driving member is arranged on the installation platform 13. In this embodiment, the driving member is an underwater working motor.

[0031] As shown in Figure 1 , 6As shown, the mechanical arm 32 comprises a hinge seat three 321, a hinge seat four 322, a support arm one 323, a support arm two 324, a telescopic rod two 325, and a telescopic rod three 326. The hinge seat three 321 is arranged at the upper end of the working body 31, the hinge seat four 322 is arranged directly below the hinge seat three 321, one end of the support arm one 323 is hingedly connected with the hinge seat three 321, and the other end extends obliquely downward and is hingedly connected with the support arm two 324. The other end of the support arm two 324 is provided with an underwater cutting assembly or a high-pressure water flushing assembly. The support arm one 323 is further provided with a hinge point one and a hinge point two. The hinge point two is arranged close to the end of the support arm one 323 connected with the support arm two 324. The hinge point one is arranged obliquely above the hinge point two. The middle part of the support arm two 324 is provided with a hinge seat five 327. One end of the telescopic rod two 325 is hingedly connected with the hinge seat four 322, and the other end is a telescopic end connected with the hinge point one. One end of the telescopic rod three 326 is hingedly connected with the hinge seat five 327, and the other end is a telescopic end connected with the hinge point two.

[0032] In the above structure, the mechanical arm 32 further comprises a telescopic rod four 328. One end of the telescopic rod four 328 is hingedly connected with the support arm two 324, and the other end is a telescopic end hingedly connected with a support arm three 329 arranged at the end of the support arm two 324 away from the support arm one 323. The support arm three 329 is a functional end of the mechanical arm 32. The underwater cutting assembly or the high-pressure water flushing assembly is mounted on the support arm three 329. The mechanical arm 32 can realize the movement of the functional end (the underwater cutting assembly and the high-pressure water flushing assembly) in the radial and axial directions of the steel pile, and adapt to the cutting of steel piles of different sizes and at different positions.

[0033] The wind power foundation steel pile cutting and recycling device described above further comprises a detection mechanism (not shown in the figure). The detection mechanism comprises a camera and a lighting assembly arranged on the working body 31. Specifically, the camera and the lighting assembly can be arranged on the side wall and / or the bottom of the working body. The detection mechanism is used to observe the internal state of the underwater steel pile, the cutting seam position, the dredging condition, etc.

[0034] The application further provides a wind power foundation steel pile cutting and recycling method, which comprises the following steps: S1. According to the lifting capacity of the ship crane and the length of the steel pile to be cut, the cutting stroke of the cutting and recycling device 100 is designed, and the steel pile is divided into multiple cylinder sections for cutting in sections.

[0035] In the above step S1, the steel pile is divided into N+1 cylinder sections, wherein N is the number of upper end cylinder sections, the length of each section is equal to the cutting stroke H of the cutting and recycling device, and the remaining one section is the bottommost cylinder section, and the length B of the bottommost cylinder section satisfies H≤B<1.5H. The cutting stroke H is the distance from the grabbing part of the pushing rod to the functional end of the mechanical arm. This setting is to ensure the normal cutting and recycling of the last cylinder section of the steel pile. If the length of the last cylinder section is too short and less than the stroke H, the pushing rod cannot grab the steel pile. If the length of the last cylinder section is too long, the lifting is unstable, the recycling is unsuccessful, and there is a safety hazard.

[0036] S2, the ship crane hoists the lower end of the cutting and recycling device 100 into a cylinder segment to be cut of the steel pile, the detection mechanism judges whether the cylinder segment two below the cylinder segment one needs to be dredged, the cylinder segment two is the next cylinder segment of the cylinder segment one, if not, the cutting is performed according to step S3, otherwise, the cutting is performed according to step S4; it should be noted that when the cylinder segment one is the first cylinder segment of the steel pile, it is not dredged and directly cut, because a section at the top of the steel pile generally has no silt.

[0037] S3, cutting the cylinder segment one, the cutting of the cylinder segment one includes the following steps: S31, when the grabbing part of the pushing rod 121 enters the inside of the steel pile, the telescopic rod one 122 drives the pushing rod 121 to grab the inner wall of the steel pile to fix the cutting and recycling device 100; specifically, the telescopic rod one 122 drives the pushing rod 121 to move towards the inner wall of the steel pile, so that the grabbing part tightly adheres to the inner wall of the steel pile until a specified pressure is reached, so that the plurality of pushing rods 121 stably grab the inner wall of the steel pile, and the cutting and recycling device is fixed in the steel pile, as shown in Figure 7 , which is the fixed state of the cutting and recycling device in the cylinder segment one.

[0038] S32, the mechanical arm 32 drives the underwater cutting assembly to act, so that the cutting head of the underwater cutting assembly approaches the inner wall of the steel pile and starts cutting; S33, the rotating assembly 4 drives the intermediate module 2 and the working main body 31 to rotate, the rotation angle of the working main body 31 needs to satisfy that the sum of the rotation angles of each underwater cutting assembly is greater than 360°, and then it is detected and judged whether the slits of each underwater cutting assembly are connected, if connected, the cutting is completed, if not connected, there is an up-down deviation in the slits of each underwater cutting assembly, the mechanical arm 32 drives the underwater cutting assembly to cut up and down to connect the slits, and the cutting is completed; in this embodiment, the underwater cutting assembly is provided with two, when cutting, the two underwater cutting assemblies rotate clockwise by 95°, after returning to the original position, they rotate counterclockwise by 95°, the sum of the rotation angles is 380°, the angle is repeated, and there is a slit overlap in the circumferential direction, which ensures that the slits in the circumferential direction are connected, and the cylinder segment is completely cut. When there is an up-down deviation in the slits, the underwater cutting assembly cuts up and down at the angle repetition position to connect the up-down slits, so that the cutting is complete.

[0039] S4, dredging the cylinder segment two, after the dredging is completed, the cutting and recycling device returns to the cylinder segment one, and the cutting of the cylinder segment one is completed according to step S3; The dredging of the cylinder segment two includes the following steps: S41, the crane hoists the cutting and recycling device 100 to the position close to the position to be dredged, that is, the lower end of the working module 3 approaches the mud surface, and the cutting and recycling device 100 is fixed, and the fixing method is the same as that of step S31; S42, start the high-pressure flushing port 34 and each high-pressure flushing assembly, and spray the middle sludge and the sludge around to the lower part; S43, when the sludge is sprayed to the slurry state, start the slurry pump connected with the sludge suction port 33, and the slurry is sucked to the sludge storage tank on the ship through the bottom sludge suction port 33; S44, repeat the dredging steps S41-S43 until the sludge of the second barrel section is completely cleaned up; S45, clean the cutting area of the second barrel section, start each high-pressure flushing assembly, and simultaneously rotate the assembly 4 to start driving the middle module 2 and the working body 31 to rotate, the rotation angle of the working body 31 needs to meet the sum of the rotation angles of each high-pressure flushing assembly greater than 360°, complete the cleaning of the cutting area, such as Figure 8 As shown in the figure, to complete the cleaning state of the cutting area of the second barrel section; in this embodiment, two high-pressure flushing are provided, when cleaning, the two high-pressure flushing assemblies rotate clockwise by 95°, return to the original position, and then rotate counterclockwise by 95°, the sum of the rotation angles is 380°, the angle is repeated, completely covers the cutting area, and the sludge in the cutting area is cleaned, avoiding the sludge in the cutting area adsorbing the cutting knife to affect the cutting effect.

[0040] S5, the ship crane hoists the cut barrel section and the cutting recovery device 100 to the ship barrel storage area, and then the cutting recovery device 100 returns to the steel pile position through the crane; S6, repeat steps S2-S5 until the specified elevation of the steel pile is cut, and the cutting and recovery of one steel pile is completed. Then, the ship is transferred to the next steel pile for cutting and recovery.

[0041] As can be seen from the above, the cutting and recovery method is convenient to operate and fast to cut and recover, only needs a crane on the ship, does not need to use large equipment additionally, saves the cost, and completes the cleaning of the inner wall of the steel pile at the same time of cutting, and improves the subsequent recovery efficiency.

[0042] It is apparent for those skilled in the art that the present application is not limited to the details of the foregoing exemplary embodiments, but can be implemented in other concrete forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all aspects as illustrative and not restrictive, and the scope of the present application is defined by the appended claims rather than the foregoing description, and it is intended to encompass all changes falling within the meaning and scope of the equivalent elements of the claims. Any reference signs in the claims should not be considered as limiting the claims involved.

[0043] Furthermore, it should be understood that although the specification is described in terms of embodiments, not every embodiment includes every feature or implementation described herein. The specification can include implicit combinations of explicitly mentioned features and / or implicit combinations of implicitly mentioned features. Such combinations are also expressly included within the scope of the specification and an embodiment.

Claims

1. A wind turbine foundation steel pile cutting and recycling device, characterized in that: The system includes a fixed module, an intermediate module, and a working module. The fixed module has an intermediate module rotatably connected to it below, and a working module is fixedly connected to the intermediate module below it. The fixed module includes a fixed body and multiple circumferentially distributed gripping components along its periphery. These gripping components can grip the steel pile's inner wall and fix a cutting and recycling device. The working module includes a working body and multiple circumferentially distributed robotic arms along its periphery. The working body has a mud suction port and a high-pressure water jet port at its bottom. The robotic arms are arranged in pairs, with each pair symmetrically arranged around the working body's axis. At least one pair of robotic arms has an underwater cutting component at its functional end, and at least one pair of robotic arms has a high-pressure water jet component at its functional end. The underwater cutting component and the high-pressure water jet component are spaced apart. The working module cuts the steel pile in sections according to the cutting stroke, where the cutting stroke is the distance between the gripping position of the gripping component on the steel pile's inner wall and the underwater cutting component.

2. The wind power foundation steel pile cutting and recycling device according to claim 1, characterized in that: The fixed body includes multiple fixing parts that correspond one-to-one with the gripping components. There are connecting parts between adjacent fixing parts. The gripping components are mounted on the corresponding fixing parts. The middle part of the fixed body is provided with an installation cavity that communicates with the intermediate module and the interior of the working body.

3. The wind power foundation steel pile cutting and recycling device according to claim 2, characterized in that: The fixing part includes a top sealing plate, an inner side plate, and an outer side plate. There are two outer side plates, which are located on both sides below the top sealing plate. The inner side plate is located inside the outer side plate and connects the two outer side plates. The top sealing plate is provided with a lifting lug at the top. The top sealing plate, the inner side plate, and the outer side plate form a square frame with an opening at the bottom and on the outside.

4. The wind turbine foundation steel pile cutting and recycling device according to claim 3, characterized in that: The gripping assembly includes a push rod and a telescopic rod. The fixed part is provided with a hinge seat 1 and a hinge seat 2. The telescopic rod 1 is hinged to the hinge seat 1. The hinge seat 2 is located directly below the hinge seat 1. The lower end of the push rod is hinged to the hinge seat 2. The upper end of the push rod is provided with a gripping part. The telescopic end of the telescopic rod 1 is connected to the upper end of the push rod, which can drive the gripping part of the push rod to move radially along the cross-section of the steel pile.

5. The wind turbine foundation steel pile cutting and recycling device according to claim 4, characterized in that: The fixing part is also provided with a reinforcing component, which includes a reinforcing plate one, a reinforcing plate two, and a reinforcing plate three. There are two reinforcing plates one, which are arranged longitudinally along the inner side plate. The two reinforcing plates one are symmetrically arranged in the middle of the outer side of the inner side plate. There are multiple reinforcing plates two between the two reinforcing plates one, and there are multiple reinforcing plates three between each reinforcing plate one and the corresponding outer side plate. The reinforcing plates three and reinforcing plates two are arranged laterally. The hinge seat one and hinge seat two are arranged on the two reinforcing plates one.

6. The wind turbine foundation steel pile cutting and recycling device according to claim 2, characterized in that: The connecting part includes an arc-shaped guard plate and a fan-shaped reinforcing plate. The arc-shaped guard plate connects the outer ends of the outer plates of two adjacent fixing parts. The fan-shaped reinforcing plate is located on the inner side of the arc-shaped guard plate. Its outer arc-shaped surface is connected to the arc-shaped guard plate, and its two inclined surfaces are connected to the outer plates. Multiple fan-shaped reinforcing plates are provided and evenly distributed along the longitudinal direction. The fan-shaped reinforcing plate is also provided with channel holes.

7. The wind turbine foundation steel pile cutting and recycling device according to claim 1, characterized in that: The intermediate module includes at least one cylindrical section, and adjacent cylindrical sections are connected by flange plates.

8. The wind turbine foundation steel pile cutting and recycling device according to claim 1, characterized in that: The intermediate module is rotatably connected to the fixed body via a rotating assembly. The rotating assembly includes a slewing flange, a ring rack, and a driving component. The slewing flange is located at the upper end of the intermediate module, and the ring rack is located on the slewing flange. The output end of the driving component is provided with a drive gear that cooperates with the ring rack. An installation platform is provided in the installation cavity in the middle of the fixed body, and the driving component is located on the installation platform.

9. The wind turbine foundation steel pile cutting and recycling device according to claim 1, characterized in that: The robotic arm includes hinge seat three, hinge seat four, support arm one, support arm two, telescopic rod two, and telescopic rod three. Hinge seat three is located at the upper end of the working body, and hinge seat four is located directly below hinge seat three. One end of support arm one is hinged to hinge seat three, and the other end extends obliquely downward and is hinged to support arm two. The other end of support arm two is provided with an underwater cutting component or a high-pressure water jet component. Support arm one is also provided with hinge point one and hinge point two. Hinge point two is located near the end where support arm one connects to support arm two, and hinge point one is located obliquely above hinge point two. Hinge seat five is located in the middle of support arm two. One end of telescopic rod two is hinged to hinge seat four, and the other end is a telescopic end connected to hinge point one. One end of telescopic rod three is hinged to hinge seat five, and the other end is a telescopic end connected to hinge point two.

10. The wind turbine foundation steel pile cutting and recycling device according to claim 9, characterized in that: The robotic arm also includes a telescopic rod four. The end of the support arm two away from the support arm one is provided with a support arm three that is hinged thereto. One end of the telescopic rod four is hinged to the support arm two, and the other end is a telescopic end that is hinged to the support arm three. The support arm three is the functional end of the robotic arm. The underwater cutting component or high-pressure water flushing component is installed on the support arm three.

11. The wind power foundation steel pile cutting and recycling device according to claim 10, characterized in that: It also includes a testing facility, which includes a camera and lighting components mounted on the main working body.

12. A cutting and recycling method applied to the wind power foundation steel pile cutting and recycling device as described in any one of claims 1-11, characterized in that, Includes the following steps: S1. Based on the lifting capacity of the ship's crane and the length of the steel pile to be cut, design the cutting stroke of the cutting and recycling device to divide the steel pile into multiple cylindrical sections for segmented cutting. S2. The ship crane lifts the lower end of the cutting and recycling device into the steel pile to be cut section one. The detection mechanism determines whether the section two located below section one needs to be dredged. If dredging is not required, the cutting is carried out according to step S3; otherwise, the cutting is carried out according to step S4. S3. Cutting section one of the cylinder. The cutting of section one includes the following steps: S31. When the gripping part of the push rod enters the interior of the steel pile, the telescopic rod is activated to drive the push rod to grip the inner wall of the steel pile and fix the cutting and recycling device. S32. The robotic arm drives the underwater cutting assembly to move, bringing the cutting head of the underwater cutting assembly close to the inner wall of the steel pile and starting the cutting. S33. The rotating component starts to drive the intermediate module and the main working body to rotate. The sum of the rotation angles of each underwater cutting component is greater than 360°, and the cutting is completed. S4. Clean the second section of the cylinder. After cleaning, the cutting and recycling device returns to the first section of the cylinder. Cut the first section of the cylinder according to step S3. S5. The ship's crane lifts the cut cylindrical section and the cutting and recycling device to the ship's cylindrical section storage area, and then the cutting and recycling device is returned to the steel pile position by the crane. S6. Repeat steps S2-S5 until the steel pile is cut to the designated elevation, completing the cutting and recycling of one steel pile. The ship is then moved to another location to begin the cutting and recycling of the next steel pile.

13. The method for cutting and recycling wind turbine foundation steel piles according to claim 12, characterized in that: In step S33, after the rotational cutting, it is necessary to check whether the cuts of each underwater cutting component are connected. If they are connected, the cutting is completed. If they are not connected, there is an vertical deviation in the cuts of each underwater cutting component. The robotic arm drives the underwater cutting component to cut vertically and vertically to connect the cuts.

14. The method for cutting and recycling wind turbine foundation steel piles according to claim 12, characterized in that: The dredging of section two in step S4 includes the following steps: S41. The crane lifts the cutting and recycling device to the location where sludge needs to be removed and fixes the cutting and recycling device in place. S42. Activate the high-pressure flushing nozzle and each high-pressure flushing component to flush and spray the silt in the middle and around the bottom. S43. When the sludge is sprayed into a mud state, the sludge suction port is activated, and the mud is sucked into the sludge storage tank located on the ship through the sludge suction port at the bottom. S44. Repeat the dredging steps S41-S43 until all the silt in section two is cleared. S45. Clean the area to be cut in section two of the cleaning cylinder, start each high-pressure water flushing component, and at the same time start the rotating component to drive the intermediate module and the main working body to rotate. The sum of the rotation angles of each high-pressure water flushing component is greater than 360°, and the cleaning of the cutting area is completed.

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